Hand controller apparatus including ergonomic features for a robotic surgery system

ABSTRACT

In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever can include a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region can include an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region can be outwardly curved.

TECHNICAL FIELD

This disclosure relates generally to robotic surgery systems and moreparticularly to a hand controller apparatus for receiving operator inputfor controlling the robotic surgery system to perform surgicalprocedures.

DESCRIPTION OF RELATED ART

Robotic surgery systems generally include an operator interface thatreceives operator input from a surgeon and causes correspondingmovements of surgical tools within a body cavity of a patient to performa surgical procedure. For example, the operator may grasp and move ahand grip while the operator interface senses movements of the handgrip. The operator interface and hand grip may operate to sense inputsresponsive to movement of the operator's hand in several differentdegrees of freedom, thus providing inputs for causing the surgical toolto mimic movements of the operator's hand. Additional movements such asopening and closing of jaws of an end effector associated with thesurgical tool may also be initiated in response to additional operatorinputs received at the operator interface.

SUMMARY

In some cases, a hand controller apparatus for controlling a tool in arobotic surgery can include a body including a proximal end and adistally located interface end configured to be coupled to an inputapparatus configured to control a surgical tool. The hand controllerapparatus can also include a control lever attached to a pivot jointproximate a side surface of the body and extending along the body andaway from the proximal end, the control lever being laterally moveablerelative to the side surface of the body about the pivot joint. The handcontroller apparatus can also include and a lateral movement detectorconfigured to magnetically or inductively detect a lateral movement ofthe control lever. Detection of the lateral movement can cause the inputapparatus to control movement of the surgical tool based on the detectedlateral movement of the control lever.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The lateral movement detector can bepositioned in the body or in the control lever. The control lever caninclude a wiper disposed inside the body and extending from the pivotjoint toward the proximal end and a paddle disposed outside the body andextending at an angle from the pivot joint toward the distally locatedinterface end. The wiper can be configured to move in a directionopposite to a lateral movement of the paddle. The lateral movementdetector can include a magnetic angular sensor configured to detect anangle formed between the paddle and the side surface of the body.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The hand controller apparatus can furtherinclude a magnet attached to the wiper and configured to move along withthe wiper. The magnetic angular sensor can be configured to detect theangle based on movement of the magnet. At least a portion of the wipercan include a magnetic material. The magnetic angular sensor can beconfigured to detect the angle based on movement of the portion of thewiper. The lateral movement detector can include an inductive sensorincluding a curved coil and configured to detect a curved movement ofthe wiper based on an electrical current induced at the curved coil bythe movement of the wiper. The wiper can be formed at least partially ofa metal.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The control lever can include a paddledisposed outside the body and extending from the pivot joint toward thedistally located interface end. The lateral movement detector caninclude an inductive sensor configured to detect a non-linear movementof a metallic portion disposed in or integrally formed with the paddle.The inductive sensor can include a substantially trapezoidal shapedcoil. The inductive sensor can include a coil that can be curved towardthe metallic portion. The metallic portion can include a substantiallytrapezoidal shape. The inductive sensor can include a substantiallyelliptical shaped coil. A portion of the elliptical shaped coil iscurved toward the metallic portion.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. A portion of the metallic portion is curvedtoward the substantially elliptical shaped coil. The control lever caninclude a paddle disposed outside the body and extending from the pivotjoint toward the distally located interface end. The lateral movementdetector can include a proximity sensor configured to detect a positionof the paddle with respect to the side surface of the body. The handcontroller apparatus can further include a presence detector configuredto detect a presence of a hand of an operator on the body. The presencedetector can include a capacitive proximity sensor coated on an innerwall of the body. The hand controller apparatus can further include apalm grip disposed on or in the proximal end, the palm grip including agenerally downwardly curved and rounded shape configured to support aportion of an operator's palm.

In some cases, a robotic surgery system can include an instrumentstation including an insertion device configured to support a surgicaltool. The robotic surgery system can also include a workstation inconfigured to be in data communication with the instrument station. Theworkstation can include a hand controller apparatus configured tocontrol movement of the tool. The hand controller apparatus can includea body including a proximal end and a distally located interface endcoupled to the input device. The hand controller apparatus can alsoinclude a control lever attached to a pivot joint proximate a sidesurface of the body and extending along the body and away from theproximal end, the control lever being laterally moveable relative to theside surface of the body about the pivot joint. The hand controllerapparatus can also include a lateral movement detector configured tomagnetically or inductively detect a lateral movement of the controllever. The input device can be configured to control movement of thetool based on the detected lateral movement of the control lever.

The robotic surgery system of any of preceding paragraphs and/or any ofrobotic surgery systems described below can include one or more of thefollowing features. The control lever can include a wiper disposedinside the body and extending from the pivot joint toward the proximalend and a paddle disposed outside the body and extending at an anglefrom the pivot joint toward the distally located interface end. Thewiper can be configured to move in a direction opposite to a lateralmovement of the paddle. The lateral movement detector can include amagnetic angular sensor configured to detect an angle formed between thepaddle and the side surface of the body. The lateral movement detectorcan include an inductive sensor including a curved coil and configuredto detect a curved movement of the wiper based on an electrical currentinduced at the curved coil by the movement of the wiper. The wiper canbe formed at least partially of a metal. The control lever can include apaddle disposed outside the body and extending from the pivot jointtoward the distally located interface end. The lateral movement detectorcan include an inductive sensor configured to detect a non-linearmovement of a metallic portion disposed in or integrally formed with thepaddle.

In some cases, a method of operating a hand controller apparatus forcontrolling a tool in a robotic surgery system can include detectinglateral movement of a control lever of the hand controller apparatusbetween a closed position and an open position, the control leverrotatably attached to a body of the hand controller apparatus andconfigured to control opening and closing of a surgical tool. The methodcan also include magnetically or inductively detecting a change in anangle of the control lever relative to the body of the hand controllerapparatus when the control lever is moved between the closed positionand the open position. The method can also include causing opening andclosing of the surgical tool based on the detected change in the angle.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. The control lever can include a wiperdisposed inside the body and extending from a pivot joint toward aproximal end of the body and a paddle disposed outside the body andextending from the pivot joint toward a distally located interface end,the paddle configured to move between the open and close positions. Amagnetic portion can be disposed in or integrally formed with the wiper.The wiper and the magnetic portion can laterally move between a firstposition and a second position about the pivot joint in a directionopposite to a lateral movement of the paddle, the first and secondpositions respectively corresponding to the open and close positions ofthe paddle. Magnetically or inductively detecting the change in theangle can include determining an angular position of the magneticportion between the first position and the second position in responseto a lateral movement of the wiper and detecting the change in the anglebased on the determined angular position of the magnetic target.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. Determining the angular position can beperformed with a magnetic angular detector disposed below the wiper. Thecontrol lever can include a wiper disposed inside the body and extendingfrom a pivot joint toward a proximal end of the body and a paddledisposed outside the body and extending from the pivot joint toward adistally located interface end, the paddle configured to move betweenthe open and close positions. A metallic portion can be disposed in orintegrally formed with the wiper. controlling the wiper and the metallicportion can partially rotate over a curved inductive coil between afirst position and a second position about the pivot joint in adirection opposite to a lateral movement of the paddle. The first andsecond positions can respectively correspond to the open and closepositions of the paddle. Magnetically or inductively detecting thechange in the angle can include detecting induced electrical current atthe curved inductive coil caused by a rotation of the wiper,demodulating the detected electrical current to produce a signalrepresenting a position of the metallic portion and detecting the changein the angle based on the produced signal.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. The control lever can include a paddledisposed outside the body and extending from a pivot joint, wherein ametallic portion can be disposed in or integrally formed with thepaddle. The paddle and the metallic portion can move over an inductivecoil between the open and close positions, the inductive coil facing themetallic portion. Magnetically or inductively detecting the change inthe angle can include detecting induced electrical current at theinductive coil in response to a movement of the metallic portion,demodulating the detected electrical current to produce a signalrepresenting a position of the metallic portion and detecting the changein the angle based on the produced signal. The inductive coil can have asubstantially trapezoidal shape or a substantially elliptical shape.

In some cases, a method of operating a robotic surgery system thatcomprises a workstation including a hand controller apparatus and aninstrument station including a surgical tool can include detectinglateral movement of a control lever of the hand controller apparatusbetween a closed position and an open position, the movement of thecontrol level changing an angle between the control lever and a body ofthe hand controller apparatus. The method can also include magneticallyor inductively detecting the change in the angle in response to thecontrol lever moving between the closed position and the open position.The method can also include controlling an opening and closing movementof the tool based on the detected angle.

In some cases, a hand controller apparatus for controlling a tool in arobotic surgery system can include a body configured to be moved togenerate a first operator input to cause a tool to move corresponding tothe movement of the body. The hand controller apparatus can also includean input control interface formed on a surface of the body andconfigured to sense one or more of a plurality of second operator inputsassociated with a plurality of tool functions, the plurality of secondoperator inputs being different from the first operator input. The handcontroller apparatus can also include a processor configured to controlthe tool to perform one or more of the plurality of tool functions inresponse to the sensed one or more second operator inputs.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The tool can include a surgical instrumentand at least one function of the plurality of tool functions comprises asurgery routine. The surgery routine can include controlling thesurgical instrument to perform at least one of: suturing, cutting,grasping or moving in a predetermined direction. The tool can include acamera configured to image a surgical site, and wherein at least onefunction of the plurality of tool functions comprises at least one of:causing a lens of the camera to be washed, causing the camera to zoom inand/or out, causing the camera to pan, or causing the camera to tilt.The hand controller apparatus can further include a memory storing theplurality of tool functions corresponding with the plurality of secondoperator inputs.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The input control interface can be configuredto sense at least one input of: swiping from a first side of the inputcontrol interface to a second side of the input control interfacedifferent from the first side, tapping, swiping and holding, tapping andholding, multiple tapping, or multiple tapping and holding. Theprocessor can be configured to control the tool to perform one or moreof the plurality of tool functions in response to the sensed at leastone input. The input control interface can include a trackpad or acapacitive touch surface configured to sense the one or more secondoperator inputs. The one or more second operation inputs can includeswiping from a first side of the trackpad to a second side of thetrackpad different from the first side.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The processor can be configured to cause thetool to become locked in a current surgery position in response to thesensed swiping from the first side of the trackpad to the second side ofthe trackpad. The tool can include a pair of jaws, and wherein theprocessor is configured to control the pair of jaws of the tool to befixed in the current surgery position while the body is beingrepositioned. The body can include a housing on an end thereof, thehousing including a generally downwardly curved and rounded shapeconfigured to receive and support a portion of an operator's palm. Thehand controller apparatus can further include at least one control leverattached to the body at a pivot joint and extending along the body, theat least one control lever being laterally moveable about the pivotjoint, and wherein the at least one control lever is configured tocontrol one or more of the plurality of tool functions.

In some cases, a method of operating a hand controller apparatus forcontrolling a tool in a robotic surgery system can include generating afirst operator input based on movement of a body of the hand controllerapparatus, the first input configured to control the tool to movecorresponding to the movement of the body. The method can also includesensing, at an input control interface formed on a surface of the body,one or more of a plurality of second operator inputs corresponding to aplurality of tool functions, the plurality of second operator inputsdifferent from the first operator input. The method can also include, bya processor, controlling the tool to perform one or more of theplurality of tool functions in response to the sensed one or more secondoperator inputs.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. The tool can be a surgical instrument.Controlling the tool can include controlling the surgical instrument toperform at least one of the following: suturing, cutting, grasping ormoving in a predetermined direction. The tool can include a cameraconfigured to image a surgical site. Controlling the tool can include atleast one of: causing a lens of the camera to be washed, causing thecamera to zoom in and/or out, causing the camera to pan, or causing thecamera to tilt. The method can further include storing the plurality oftool functions corresponding with the plurality of second operatorinputs in a memory.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. Sensing the one or more of second operatorinputs can include sensing at least one of the following inputs: swipingfrom a first side of the input control interface to a second side of theinput control interface different from the first side, tapping, swipingand holding, tapping and holding, multiple tapping, or multiple tappingand holding. The input control interface can include a trackpad or acapacitive touch surface.

In some cases, a hand controller apparatus for controlling one or moretools in a robotic surgery system can include a body configured to bemoved to generate a first operator input to control a surgicalinstrument of the one or more tools to move corresponding to themovement of the body. The hand controller apparatus can also include aninput control interface formed on a surface of the body and configuredto sense a second operator input different from the first operatorinput. The hand controller apparatus can also include a processorconfigured to control at least first and second functions of first andsecond tools of the one or more tools in response to the received secondoperator input, the first function and the second function performedmutually exclusively of each other, the first and second functions beingdifferent from each other, and the first and second tools beingdifferent from each other.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The processor can be configured to controlthe first function of the first tool in response to a first type of thesecond operator input while disabling the second function of the secondtool, and control the second function of the second tool in response toa second type of the second operator input while disabling the firstfunction of the first tool. The input control interface can include atrackpad or a capacitive touch surface configured to sense at least oneof: swiping from a first side of the trackpad to a second side of thetrackpad different from the first side, tapping, swiping and holding,tapping and holding, multiple tapping, or multiple tapping and holding.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The trackpad can be configured to sense atleast one of the following inputs: swiping from a first side of thetrackpad to a second side of the trackpad different from the first side,tapping, swiping and holding, tapping and holding, multiple tapping, ormultiple tapping and holding. The processor can be configured to performdifferent functions based on the sensed second operator input. Thecapacitive touch surface can include at least one capacitive inputconfigured to sense a single-click or a multiple-click, and wherein theprocessor is configured to perform different functions based on thesingle-click or multiple-click.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The first tool can a camera configured toimage a surgical site, the first function being enabling and/ordisabling the camera. The second tool can include an instrument clutchconfigured to reposition the body, the second function being enablingand/or disabling the instrument clutch. The track pad can be configuredto sense swiping from a first side of the trackpad to a second side ofthe trackpad different from the first side and holding the second sideof the trackpad. The processor can be configured to, in response to thesensed swiping and holding, disable an association of the body with thesurgical instrument and enable association of the body with the camera.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The track pad can be further configured tosense a release of the second side, and wherein the processor is furtherconfigured to, in response to the sensed release, disable theassociation of the body with the camera and enable the association ofthe body with the surgical instrument. The track pad can be furtherconfigured to sense a first swiping from a first side of the trackpad toa second side of the trackpad different from the first side and firstreleasing of the trackpad, and wherein the processor is furtherconfigured to, in response to the sensed first swiping and firstreleasing, disable an association of the body with the surgicalinstrument, and permit repositioning of the body without moving thesurgical instrument.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The track pad can be further configured tosense a second swiping from the first side of the track pad to thesecond side of the track pad and a second releasing of the trackpad, andwherein the processor is configured to, in response to the sensed secondswiping and second releasing, enable the association of the body withthe surgical instrument.

In some cases, a method of operating a hand controller apparatus forcontrolling one or more tools in a robotic surgery system can includegenerating a first operator input based on a movement of a body of thehand controller apparatus, the first operator input configured tocontrol movement of a surgical instrument of the one or more tools. Themethod can also include sensing, at an input control interface formed ona surface of the body, a second operator input different from the firstoperator input. The method can also include, by a processor, controllingat least first and second functions of first and second tools of the oneor more tools in response to the received second operator input byperforming the first function and the second function mutuallyexclusively of each other, the first and second functions beingdifferent from each other, and the first and second tools beingdifferent from each other.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. Controlling the at least first and secondfunctions can include controlling the first function of the first toolin response to a first type of the second operator input while disablingthe second function of the second tool and controlling the secondfunction of the second tool in response to a second type of the secondoperator input while disabling the first function of the first tool.

In some cases, a hand controller apparatus for controlling a tool in arobotic surgery system can include a body including a proximal end and adistally located interface end configured to be coupled to an inputapparatus configured to control a surgical tool. The hand controllerapparatus can also include a feedback device supported by the body andconfigured to provide feedback to a user in response to a change in afunction of the hand controller apparatus from a first mode to a secondmode, the second mode different from the first mode. The function caninclude at least one: controlling a camera that images a surgical site,instrument clutching to reposition the hand controller apparatus, apre-set surgery routine, or an operation to control the surgical tool.The change from the first mode to the second mode can be configured tooccur within the same function.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. When the function includes controlling thecamera, the first mode can include enabling control of the camera, andthe second mode can include disabling control of the camera. When thefunction comprises instrument clutching, the first mode can includeenabling instrument clutching and the second mode can include disablinginstrument clutching.

In some cases, a hand controller apparatus for controlling a tool in arobotic surgery system can include a body including a proximal end and adistally located interface end configured to be coupled to an inputapparatus configured to control a surgical instrument. The handcontroller apparatus can also include a feedback device positioned in oron the body and configured to provide feedback to a user in response toa change in a function of the hand controller apparatus from a firstmode to a second mode, the second mode different from the first mode.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The feedback device can include a hapticfeedback device configured to provide a haptic feedback in response tothe change in the function. The haptic feedback device can include ahaptic actuator and a controller configured to sense the change in thefunction and actuate the haptic actuator to vibrate in response thereto.The haptic actuator ca be disposed adjacent to the proximal end or thedistally located interface end. The hand controller apparatus canfurther include an input control interface formed on an upper surface ofthe body and configured to receive an additional user input. The hapticactuator can be disposed adjacent to the input control interface.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The function can include at least one of:controlling a camera that images a surgical site, instrument clutchingto reposition the hand controller apparatus, a pre-set surgery routine,or an operation to control the surgical instrument. When the functionincludes controlling the camera, the first mode can include enablingcontrol of the camera and the second mode can include disabling controlof the camera. When the function includes instrument clutching, thefirst mode can include enabling instrument clutching and the second modecomprises disabling instrument clutching.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The change in the function can be generatedfrom repositioning the body or from a secondary input of the roboticsurgery system remote from the body. The feedback device can include avisual feedback device configured to provide a visual feedback inresponse to the change in the function. The feedback device can includean audio feedback device configured to provide an audio feedback inresponse to the change in the function.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The feedback device can include a tactilefeedback device configured to provide a tactile feedback in response tothe change in the function. The tactile feedback can include at leastone of the following: a bump, a beak, a grove, a lip, or a texturedifference.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The feedback device can include a forcefeedback device configured to provide a force feedback in response tothe change in the function. The force feedback device can include aself-centering wheel. The feedback device is located in a portion of thebody configured to contact a user's palm. The feedback device isconfigured to provide different feedbacks in response to differentchanges in the function. The different feedbacks can be configurable bythe user.

In some cases, a robotic surgery system can include an instrumentstation comprising an insertion device configured to support a surgicaltool. The robotic surgery system can also include a workstation in datacommunication with the instrument station. The workstation can include ahand controller apparatus configured to receive an operator input forcontrolling the tool. The hand controller apparatus can include a bodyincluding a proximal end and a distally located interface end configuredto be coupled to an input apparatus configured to control the tool. Thehand controller apparatus can include a feedback device disposed in oron the body and configured to provide feedback to an operator inresponse to a change in a function of the hand controller apparatus froma first mode to a second mode, the second mode different from the firstmode.

The robotic surgery system of any of preceding paragraphs and/or any ofrobotic surgery systems described below can include one or more of thefollowing features. The feedback device can include at least one of thefollowing: a haptic feedback device configured to provide a hapticfeedback in response to the change in the function, a visual feedbackdevice configured to provide a visual feedback in response to the changein the function, an audio feedback device configured to provide an audiofeedback in response to the change in the function, a tactile feedbackdevice configured to provide a tactile feedback in response to thechange in the function or a force feedback device configured to providea force feedback in response to the change in the function.

The robotic surgery system of any of preceding paragraphs and/or any ofrobotic surgery systems described below can include one or more of thefollowing features. The change in the function can be generated fromrepositioning the body or from a secondary input of the workstationremote from the hand controller apparatus. The feedback device can beconfigured to provide different feedbacks in response to differentchanges in the function. The different feedbacks can be configurable bythe operator.

In some cases, a method of operating a hand controller apparatus forcontrolling a tool in a robotic surgery system can include receiving anoperator input. The method can also include determining that thereceived operator input triggers a change in a function of the handcontroller apparatus from a first mode to a second mode, the second modedifferent from the first mode. The method can also include, with afeedback device supported by a body of the hand controller apparatus,providing operator feedback in response to the change in the function.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. The function can include at least one of thefollowing: controlling a camera that images a surgical site, instrumentclutching to reposition the hand controller apparatus, a pre-set surgeryroutine, or an operation to control a surgical tool of the roboticsurgery system. When the function includes controlling the camera, thefirst mode can include enabling control of the camera and the secondmode can include disabling control of the camera.

The method of operating a hand controller apparatus of any of precedingparagraphs and/or any of methods described below can include one or moreof the following features. When the function includes instrumentclutching, the first mode can include enabling instrument clutching andthe second mode comprises disabling instrument clutching. Providing theoperator feedback can include providing different feedbacks in responseto different changes in the function.

In some cases, a hand controller apparatus for controlling a tool in arobotic surgery system can include a body including a proximal end and adistally located interface end configured to be coupled to an inputapparatus configured to control a surgical tool. The a hand controllerapparatus can also include a control lever attached to a pivot jointproximate a side surface of the body and extending along the body andaway from the proximal end, the control lever being laterally moveablerelative to the side surface of the body about the pivot joint. Thecontrol lever can include a tail region adjacent to the pivot joint anda paddle region connected to the tail region and extending toward thedistally located interface end, wherein the tail region includes aninner surface facing the body and an outer surface opposing the innersurface, and wherein at least part of the outer surface of the tailregion is outwardly curved.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The at least part of the outer surface of thetail region can include a substantially convex shape. The tail regioncan include a tail end horizontally overlapping the pivot joint. Anouter surface of the tail end can be outwardly curved and an outersurface of the remaining portion of the tail region can be substantiallyflat. The tail region can include a tail end horizontally overlappingthe pivot joint. A first portion of an outer surface of the tail end canbe outwardly curved and a second portion of the outer surface of thetail end can be substantially flat.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The at least part of the outer surface of theextension can have a substantially concave shape. The control lever canfurther include an extension extending downwardly from the paddleregion, wherein at least part of the extension is curved toward thebody. The hand controller apparatus can further include a cutout formedon or in the side surface of the body and configured to accommodate thecontrol lever therein such that a longitudinal axis of the control leveris substantially parallel to a longitudinal axis of the body.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The hand controller apparatus can furtherinclude a palm grip disposed in or on the proximal end, the palm gripincluding a generally downwardly curved and rounded shape configured toreceive and support a portion of an operator's palm. The hand controllerapparatus can further include a neck portion interposed between thepivot joint and the palm grip, wherein a width of the neck portion canbe smaller than a width of the palm grip.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The neck portion can include a protrudingside surface. The protruding side surface of the neck portion can have acurvature that is substantially the same as a curvature of the at leastpart of the outer surface of the tail region. At least one of i) theprotruding side surface of the neck portion, or ii) the at least part ofthe outer surface of the tail region can be configured to enable anoperator to rotate the body of the hand controller apparatus about alongitudinal axis of the body with the operator's finger withoutrotation of the operator's wrist.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The hand controller apparatus can furtherinclude an input control interface formed on an upper surface of thebody and configured to sense an operator input. The input controlinterface can include a first side facing the proximal end and a secondside opposing the first side and facing the distally located interfaceend. The hand controller apparatus can further include a slope regiondisposed between the first side of the input control interface and theneck portion and downwardly sloped to allow an operator's finger to berested thereon. The slope region can be curved or linear. The inputcontrol interface can include a periphery at least part of which israised to provide a tactile feedback for a location of the input controlinterface. The palm grip can be downwardly angled with respect to theneck portion to substantially resemble a natural curvature formedbetween an average operator's thumb and palm when the palm grip isgrasped by the operator's hand.

In some cases, a robotic surgery system can include an instrumentstation including an insertion device configured to support a surgicaltool. The robotic surgery system can also include a workstation in datacommunication with the instrument station. The workstation can include ahand controller apparatus configured to receive an operator input forcontrolling the tool. The hand controller apparatus can include a bodyincluding a proximal end and a distally located interface end configuredto be coupled to an input apparatus configured to control the tool. Thehand controller apparatus can also include a control lever attached to apivot joint proximate a side surface of the body and extending along thebody and away from the proximal end, the control lever being laterallymoveable relative to the side surface of the body about the pivot joint.The control lever can include a tail region adjacent to the pivot jointand a paddle region extending from the tail region toward the distallylocated interface end. The tail region includes an inner surface facingthe body and an outer surface opposing the inner surface. At least partof the outer surface of the tail region can be outwardly curved.

The robotic surgery system of any of preceding paragraphs and/or any ofrobotic surgery systems described below can include one or more of thefollowing features. The at least part of the outer surface of the tailregion can include a substantially convex shape. The control lever canfurther include an extension extending downwardly from the paddleregion. At least part of the downward extension can be curved toward thebody. The at least part of the outer surface of the tail region can beconfigured to enable an operator to rotate the hand controller apparatusabout a longitudinal axis of the body with the operator's finger withoutrotation of the operator's wrist.

In some cases, a hand controller apparatus for controlling a tool in arobotic surgery system can include a body including a proximal end and adistally located interface end configured to be coupled to an inputapparatus configured to control a surgical instrument. The handcontroller apparatus can also include a control lever attached to apivot joint proximate a side surface of the body and extending along thebody and away from the proximal end, the control lever being laterallymoveable relative to the side surface of the body about the pivot joint.The hand controller apparatus can also include a palm grip disposed inor on the proximal end, the palm grip including a substantiallydownwardly curved and rounded shape configured to receive and support aportion of an operator's palm. The hand controller apparatus can alsoinclude a neck portion interposed between the pivot joint and the palmgrip, wherein a width of the neck portion is smaller than a width of thepalm grip.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. At least part of the neck portion may nothorizontally overlap the pivot joint. The palm grip can include an upperportion extending from the neck portion toward the proximal end, amiddle portion downwardly extending at a first angle from the upperportion, and a lower portion downwardly extending at a second angle fromthe middle portion. Each of the upper and lower portions can include awidth smaller than a width of the middle portion. The upper portionincludes a width greater than a width of the neck portion.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The body can include an upper surfaceaccommodating an input control interface configured to sense an operatorinput. The upper surface can be slanted toward the side surface of thebody, the slanted upper surface configured to support an operator'sindex finger when the palm grip is grasped by the operator's hand. Thepivot joint can be disposed inside the body and positioned closer to alongitudinal axis of the body than a longitudinal axis of the controllever.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The control lever can include a wiperdisposed inside the body and extending from the pivot joint toward theproximal end and a paddle disposed outside the body and extending at anangle from the pivot joint toward the distally located interface end.The wiper and the paddle can be connected to the pivot joint such thatlongitudinal axes of the wiper and the paddle are substantially parallelto each other. The longitudinal axes of the wiper and the paddle may notintersect a center of the pivot joint.

In some cases, a hand controller apparatus for controlling a tool in arobotic surgery system can include a body including a proximal end and adistally located interface end configured to be coupled to an inputapparatus configured to control a surgical tool. The hand controllerapparatus can also include a control lever attached to a pivot jointproximate a side surface of the body and extending along the body andaway from the proximal end, the control lever being laterally moveablerelative to the side surface of the body about the pivot joint. Thepivot joint can be disposed inside the body and positioned closer to alongitudinal axis of the body than a longitudinal axis of the controllever. The longitudinal axis of the control lever may not intersect acenter of the pivot joint.

The hand controller apparatus of any of preceding paragraphs and/or anyof hand controller apparatuses described below can include one or moreof the following features. The longitudinal axis of the control levercan be parallel to the longitudinal axis of the body when the controllever is in a closed position.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure will now be described hereinafter,by way of example only, with reference to the accompanying drawings inwhich:

FIG. 1 illustrates a robotic surgery system in accordance with someembodiments;

FIG. 2 illustrates a perspective view of a right side input device ofthe workstation shown in FIG. 1;

FIG. 3A illustrates a perspective view of a left side hand controller inan open position according to some embodiments;

FIG. 3B illustrates a perspective view of a right side hand controllerin an open position according to some embodiments;

FIG. 4A illustrates a plan view of the hand controller of FIG. 3Baccording to some embodiments;

FIG. 4B illustrates a left side view of the hand controller of FIG. 3Baccording to some embodiments;

FIG. 5 illustrates a perspective view of a right side hand controller ina closed position according to some embodiments;

FIG. 6A illustrates a perspective view of a left side hand controllergrasped by a user's left hand according to some embodiments;

FIG. 6B illustrates a perspective view of left and right side handcontrollers grasped by a user's hands according to some embodiments;

FIG. 7 illustrates a perspective view of a right side hand controller inan open position according to some embodiments;

FIG. 8 illustrates a perspective view of a left side hand controller inan open position according to some embodiments;

FIG. 9 illustrates a perspective view of a hand controller having twopinchers in an open position according to some embodiments;

FIG. 10 illustrates an assembly view of the hand controller of FIG. 3Baccording to some embodiments;

FIG. 11A illustrates a closed-up plan view of a hand controller pinchershowing angular magnetic detection according to some embodiments;

FIG. 11B illustrates a closed-up plan view of a hand controller wiperand a magnetic angular detector according to some embodiments;

FIG. 12A illustrates a conceptual diagram showing a magnetic angulardetection method for a metallic portion in a wiper according to someembodiments;

FIG. 12B illustrates a perspective view of a hand controller including alinear coil inductive detector for sensing movement of a metallicportion in the paddle according to some embodiments;

FIG. 12C illustrates a plan view of the hand controller including thelinear coil inductive detector of FIG. 12B;

FIG. 12D illustrates a modified printed circuit board (PCB) coil layoutfor the linear inductive detector shown in FIGS. 12B and 12C accordingto some embodiments;

FIG. 12E illustrates a standard PCB coil layout for a linear coilinductive detector according to some embodiments;

FIG. 13A illustrates a perspective view of a hand controller including aspiral coil inductive detector for sensing the movement of a metallicportion in the paddle according to some embodiments;

FIG. 13B illustrates a plan view of the hand controller including thespiral coil inductive detector of FIG. 13A according to someembodiments;

FIG. 13C illustrates a modified coil layout for the spiral inductivedetector shown in FIGS. 13A and 13B according to some embodiments;

FIG. 13D illustrates a standard coil layout for a spiral coil inductivedetector according to some embodiments;

FIG. 14 illustrates a perspective view of a metal shaped PCB coil formedinside the wall of a handpiece according to some embodiments;

FIG. 15 illustrates a plan view of an example trackpad of a handcontroller according to some embodiments;

FIG. 16A illustrates a plan view of a capacitive touch surface havingmultiple ‘V’ shaped capacitive buttons according to some embodiments;

FIG. 16B illustrates a plan view of a capacitive touch surface havingmultiple rectangular capacitive buttons according to some embodiments;

FIG. 17A illustrates a closed-up view of the trackpad according to someembodiments;

FIG. 17B illustrates an example location of a capacitive gesturerecognition circuitry according to some embodiments;

FIG. 17C illustrates a cross-sectional view of a capacitive gesturerecognition PCB according to some embodiments;

FIG. 18 illustrates a flowchart for a shared input control processaccording to some embodiments;

FIGS. 19A and 19B illustrate conceptual diagrams showing a cameracontrol operation according to some embodiments;

FIG. 20 illustrates a flowchart for a camera control process shown inFIGS. 19A and 19B according to some embodiments;

FIGS. 21A and 21B illustrate conceptual diagrams showing an instrumentclutch operation according to some embodiments;

FIG. 22 illustrates a flowchart for an instrument clutch process shownin FIGS. 21A and 21B according to some embodiments;

FIG. 23 illustrates a flowchart for a gesture control process accordingto some embodiments;

FIG. 24 illustrates a flowchart for a hand controller feedback controlprocess according to some embodiments;

FIG. 25A illustrates an example location of a haptic feedback deviceaccording to some embodiments;

FIG. 25B illustrates another example location of a haptic feedbackdevice according to some embodiments;

FIG. 26 illustrates a block diagram of a hand controller according tosome embodiments;

FIG. 27 illustrates a perspective view of a right side hand controllershowing palm grip ergonomic features according to some embodiments;

FIG. 28 illustrates a perspective view of the right side hand controllerof FIG. 27 grasped by a user's right hand according to some embodiments;

FIG. 29 illustrates a perspective view of a right side hand controllershowing paddle ergonomic features according to some embodiments;

FIG. 30 illustrates a closed-up perspective view of a paddle of theright side hand controller of FIG. 29 according to some embodiments;

FIG. 31 illustrates a closed-up left side view of the paddle of FIG. 30according to some embodiments; and

FIG. 32 illustrates a rear view of a right side hand controller showinganother example ergonomic features according to some embodiments.

FIG. 33 illustrates a perspective view of an example coil to be used asa compression spring for pincer angle detection according to someembodiments.

DETAILED DESCRIPTION Overview of Robotic Surgery System

FIG. 1 illustrates a robotic surgery system 100 in accordance with someembodiments. The robotic surgery system 100 includes a workstation 102and an instrument station or a patient cart 104. The patient cart 104includes at least one tool mountable on a moveable instrument mount,central unit or drive unit 106 that houses an instrument drive (notshown) for manipulating the tool. The tool may include an insertiondevice 108 configured to support at least one surgical instrument(hereinafter to be interchangeably used with an “instrument” or“surgical tool”) and a camera (not shown) that images a surgical site.The workstation 102 may also include a tool such as an instrument clutch(that may be implemented by a foot pedal described below). The insertiondevice 108 can support two or more instruments (not shown). The cameramay include a primary camera and at least one secondary camera. Theprimary camera and the secondary camera may provide different viewingangles, perform different functions and/or produce different images. Atleast one of the primary camera and the secondary camera may be atwo-dimensional (2D) or a three-dimensional (3D) camera. FIG. 1 ismerely an example of a robotic surgery system, and certain elements maybe removed, other elements added, two or more elements combined or oneelement can be separated into multiple elements depending on thespecification and requirements of the robotic surgery system.

The workstation 102 includes an input device for use by a user (forexample, a surgeon; hereinafter to be interchangeably used with an“operator”) for controlling the instrument via the instrument drive toperform surgical operations on a patient. The input device may beimplemented using a haptic interface device available from ForceDimension, of Switzerland, for example. The input device includes aright input device 132 and a left input device 112 for controllingrespective right and left instruments (not shown). The right inputdevice 132 includes a right hand controller 122 (hereinafter to beinterchangeably used with a “hand grip” or “handpiece”) and the leftinput device 112 includes a left hand controller 124. The right and lefthand controllers 122 and 124 may be mechanically or electrically coupledto the respective input devices 132 and 112. Alternatively, the rightand left hand controllers 122 and 124 may be wirelessly coupled to therespective input devices 132 and 112 or may be wireless coupled directlyto the workstation 102. In some cases, when there are two instruments atthe instrument station 104, the right and left hand controllers 122 and124 may respectively control the two instruments. In some cases, whenthere are more than two instruments, the right and left hand controllers122 and 124 may be used to select two of the multiple instruments thatan operator wishes to use. In some cases, when there is only oneinstrument, one of the right and left hand controllers 122 and 124 maybe used to select the single instrument.

The input devices 132 and 112 may generate input signals representingpositions of the hand controllers 122 and 124 within an input deviceworkspace (not shown). In some cases where the input devices 132 and 112are coupled directly and wirelessly to the workstation, they wouldinclude the necessary sensors to allow wireless control such as anaccelerometer, a gyroscope and/or magnetometer. In other cases, awireless connection of the input devices 132 and 112 to the workstation102 may be accomplished by the use of camera systems alone or incombination with the described sensors. The afore described sensors forwireless functionality may also be placed in each handpiece to be usedin conjunction with the input devices 132 and 112 to independentlyverify the input device data. The workstation 102 also includes aworkstation processor circuit 114, which is in communication with theinput devices 132 and 112 for receiving the input signals.

The workstation 102 also includes a display 120 in communication withthe workstation processor circuit 114 for displaying real time imagesand/or other graphical depictions of a surgical site produced by thecamera associated with the instrument. The workstation 102 may includeright and left graphical depictions (not shown) displayed on the display120 respectively for the right and left side instruments (not shown).The graphical depictions may be displayed at a peripheral region of thedisplay 120 to prevent obscuring a live view of the surgical workspacealso displayed on the display. The display 120 may further be operableto provide other visual feedback and/or instructions to the user. Asecond auxiliary display 123 may be utilized to display auxiliarysurgical information to the user (surgeon), displaying, for example,patient medical charts and pre-operation images. In some cases, theauxiliary display 123 may be a touch display and may also be configuredto display graphics representing additional inputs for controlling theworkstation 102 and/or the patient cart 104. The workstation 102 furtherincludes a footswitch or foot pedal 126, which is actuatable by the userto provide input signals to the workstation processor circuit 114. Inone case, the signal provided to the workstation processor circuit 114may inhibit movement of the instrument while the footswitch 126 isdepressed.

The patient cart 104 includes an instrument processor circuit 118 forcontrolling the central unit 106, insertion device 108, one or moreinstruments and/or one or more cameras. In such case, the instrumentprocessor circuit 118 is in communication with the workstation processorcircuit 114 via an interface cable 116 for transmitting signals betweenthe workstation processor circuit 114 and the instrument processorcircuit 118. In some cases, communication between the workstationprocessor circuit 114 and the processor circuit 118 may be wireless orvia a computer network, and the workstation 102 may even be locatedremotely from the instrument station 104. Input signals are generated bythe right and left input devices 132 and 112 in response to movement ofthe hand controllers 122 and 124 by the user within the input deviceworkspace and the instrument is spatially positioned in a surgicalworkspace in response to the input signals.

FIG. 2 illustrates a perspective view of the right side input device 132of the workstation 102 shown in FIG. 1. Since the structure andoperations of the right and left input devices 132 and 112 aresubstantially the same, the description will be provided only for theright side input device 132. Furthermore, FIG. 2 illustrates only anexample of an input device, input devices having other structures andshapes may also be used, as long as they receive a user's inputs forcontrolling the operation of the instrument. Referring to FIG. 2, theinput device 132 includes three moveable arms 180, 182, and 184. Thehand controller 122 may be coupled via a gimbal mount 186 to themoveable arms 180, 182, and 184. The input device 132 may includesensors (not shown) that sense the position of each of the arms 180,182, and 184 and rotation of the hand controller 122 and producessignals representing a current position of the hand controller 122. Insuch case, the position signals are transmitted as input signals to theworkstation processor circuit 114. The hand controller 122 may include auser actuatable button or input control interface 326 a (see, forexample, FIG. 3B), which may produce additional input signals fortransmission to the workstation processor circuit 114.

Additional details of the robotic surgery system 100 including the handcontrollers 122 and 124 are described in U.S. Patent Publication No.2018/0168758, which is assigned to the assignee of the presentapplication and the disclosure of which is incorporated by reference inits entirety.

Overview of Handpiece

FIG. 3A illustrates a perspective view of a left side handpiece 124 inan open position according to some embodiments. FIG. 3B illustrates aperspective view of a right side handpiece 122 in an open positionaccording to some embodiments. FIG. 4A illustrates a plan view of thehandpiece 124 of FIG. 3B according to some embodiments. FIG. 4Billustrates a left side view of the handpiece 124 of FIG. 3B accordingto some embodiments. FIG. 5 illustrates a perspective view of a rightside handpiece 122 in a closed position according to some embodiments.The handpieces 124 and 122 shown in FIGS. 3A to 5 can be usedrespectively as hand controllers for the input devices 112 and 132 shownin FIG. 1.

Each of the handpieces 124 and 122 shown in FIGS. 3A and 3B includes asingle pincher 308/328 (hereinafter to be interchangeably used with“pincer,” “paddle” or “control lever”). Each of the single paddlehandpieces 124 and 122 may control the movement of one or a pair of jawsof a corresponding surgical instrument. The movement can include openingand/or closing of the one or more jaws. Thus, providing the singlepaddle handpieces 124 and 122 may be beneficial, as manufacturing costscan be reduced and their manufacturing procedure can be simplified.However, each handpiece may also include two pinchers (see, for example,FIG. 9).

Furthermore, although FIG. 3A shows that the pincher 308 of the leftside handpiece 124 is disposed on the left side of the body 305, thepincher 308 may be disposed on the right side of the body 305 (see, forexample, FIG. 6A). Moreover, although FIG. 3B shows that the pincher 328of the right side handpiece 122 is disposed on the right side of thebody 325, the pincher 328 may be disposed on the left side of the body325 (not shown).

Referring to FIG. 3A, the left side handpiece 124 includes a proximalend 301, an upper handpiece housing 302, a lower handpiece housing 304,a handpiece body 305, an input control interface 306 a, a pincher 308having a pivot point, a tail end 311 and a paddle end 313, an upperhousing 310, a lower housing 312, a front plate (or connector) 314 and adistally located interface end 315. The proximal end 301 and thedistally located interface end 315 may be part of the handpiece body305.

Referring to FIG. 3B, the right side handpiece 122 includes a proximalend 321, an upper handpiece housing 322, a lower handpiece housing 324,a handpiece body 325, an input control interface 326 a, a pincher 328having a pivot joint 372 (see, for example, FIG. 11A), a tail end 331and a paddle end 333, an upper housing 330, a lower housing 332 and afront plate 334, and a distally located interface end 335. The proximalend 321 and the distally located interface end 335 may be part of thehandpiece body 325.

The handpiece 122 may be configured for operation by a right hand of theoperator and the handpiece 124 may be configured for operation by a lefthand. The left handpiece 124 may be configured as a mirror image of theright handpiece 122 as shown in FIGS. 3A and 3B, but may be differentlyconfigured depending on the nature of the task. For example, only one ofthe right and left handpieces 122 and 124 may include an input controlinterface. In such case, actuation on the single input control interfacemay perform input control for both of the handpieces 122 and 124.Furthermore, depending on the embodiment, at least one of the right andleft handpieces 122 and 124 may include a plurality of input controlinterfaces. In some cases, the plurality of input control interfaces mayhave the same shape, function and/or structure. In some cases, theplurality of input control interfaces may have different shapes,functions and/or structures. Since the structure and operations of theright and left handpieces 122 and 124 are substantially the same, thedescription will be provided only for the right side handpiece 122.

The proximal end 321 of the right handpiece 122 may be shaped to begrasped by a right hand of an operator. Here, the proximal end 321 mayinclude the handpiece housing 322 and 324. The proximal end 321 may alsobe referred to as a handle or a palm rest. The proximal end 321 may havea generally downwardly curved and rounded shape operable to receive andsupport a portion of the operator's palm when the body 325 is grasped inthe hand of the operator. Although the upper and lower housings 322 and324 appear to be as long as the remaining portion of the body 325, thepresent disclosure is not limited thereto. That is, the upper and lowerhousings 322 and 324 may be longer or shorter than the remaining portionof the body 325. The distally located interface end 335 may beconfigured for coupling to the input apparatus 132 for controlling thesurgical tool associated with the robotic surgery system 100. At least aportion of the front plate 334 may be positioned in the distally locatedinterface end 335.

The pincher 328 may be attached to the body 325 at the pivot joint 372(see, for example, FIG. 11A). The pincher 328 may extend from the tailend 331 to the paddle end 333 along the body 325 to be away from theproximal end 321. FIG. 3B shows that the pincher 328 is in an openposition. The open position means that the pincher 328 is opened bylaterally moving away from the body 325 in a direction (for example, aclockwise direction) so that the pincher 328 forms an angle of θ(hereinafter referred to as a “pincher angle” or “pincer angle”) withrespect to a side surface of the body 325. For the left side handpiece124, the pincher 313 is opened by laterally moving away from the body305 in an opposite direction (for example, a counterclockwise direction)so that the pincher 308 has a pincer angle (θ) with respect to the body305. In some cases, the pincer angle (θ) can be in the range of 0° toabout 15°. In some cases, the pincer angle (θ) can be in the range of 0°to about 12.5°. By adjusting the pincer angle, the position or movementof the instrument can be adjusted in a highly accurate manner. In somecases, the maximum pincer angle (θ) can be greater or smaller than about15°.

In some cases, the pincher 328 can be elastically moved between the openposition and the closed position. In such cases, the pincher 328 may beconfigured to have the open position as an original or default position.The pincher 328 can restore to the original position via an elasticelement such as a compression spring, when it is released by a user (seereference numeral 348 in FIG. 11B). When an operator desires to fix theposition of the pincher 328 in a partially open position, the operatormay be required to hold the pincher 328 in the specific open positionwith his or her finger. In some cases, a magnet or an electromagnet maybe used in place of or in addition to the compression spring to fix thepincher 328 in a particular position and/or to provide a rebounding orresistive force to cause the pincher 328 return to an open position uponbeing actuated/closed. Furthermore, the movement of the pincher 328 maybe controlled by a processor so that the pincher 328 is fixed in apartially open position without the operator's finger holding thepincher 329 at the position. In such cases, the pincher 328 may becaused to remain in a particular position by varying the amount ofelectromagnetic force being delivered. Varying the electromagnetic forcebeing delivered may also be used to provide a resistive or feedbackforce on the pincher 328 on the operator's finger placed on the pincher328 or as the operator tries to actuate the pincher 328. In some cases,the pincher 328 can be non-elastically (for example, mechanically) movedbetween the open position and the closed position by pressing the tailend 331 of the pincher 328 or by pulling the paddle end 333 away from aside surface of the body 325 for example, in a clockwise direction. Insuch cases, the pincher 328 may be fixed in a partially open positionwithout the operator's finger holding the pincher 328 at that position.

When the pincher 328 is laterally moved in the workstation 102, theprocessor circuit 114 generates and transmits a control signal to thepatient cart 104 such that one or both of the jaws of the instrument aresimultaneously opened or closed accordingly based on the control signal.For example, if the pincer angle (θ) is small, the one or more jaws ofthe instrument are opened in a correspondingly small amount.Furthermore, if the pincer angle (θ) is large, the one or more jaws ofthe instrument are opened in a correspondingly large amount.

The pincher 328 may be accommodated in a cutout 336 in a closed positionwhere the pincer angle is generally 0° (see, for example, FIG. 5). Thecutout 336 may include a recess, an indentation or a groove. The pincher328 may be received in the cutout 336 such that a surface of the pincher328 facing the body 325 is generally contiguous with side surfaces ofthe body 325 when the pincher 328 is in the closed position. In somecases, the handpiece 122 may not include a cutout portion, and thepaddle end 333 of the pincher 328 contacts the body 325 in a closedposition where the pincer angle is generally 0°.

The input control interface 326 a may be positioned on an upper surfaceof the body 325. An operator may perform a primary control ofrepositioning the input devices or actuating actuators to controlend-effectors (for example, one or more jaws) of the instruments. Anadditional control or secondary control (other than the primary control)may be performed using the input control interface 326 a. For example,the input control interface 326 a may be used to receive additional userinputs such as camera control or instrument clutch, that may bedifficult for an operator to provide a user input with the handpieces orfoot pedal particularly while the operator is moving the handpieces. Theadditional user inputs may also include controlling tool functions (tobe described later), controlling paddle movements, and/or selectingparticular instruments when there are more than two surgicalinstruments. The input control interface 326 a may be generallyhorizontally aligned with at least a portion of the pincher 328. Theinput control 326 a may be a PCB slider having an actuator surface or aninput control interface (to be described below in greater detail). Theinput control interface 326 a may be slightly inclined toward a side ofthe body 325 where an operator's index finger would be located when theoperator grasps the handpiece. A detailed structure of a handpiecehaving an inclined input control interface is described in U.S. PatentPublication No. 2018/0168758, which is incorporated by reference in itsentirety.

Operation of Handpiece

FIG. 6A illustrates a perspective view of a left side handpiece 124 agrasped by a user's left hand according to some embodiments. FIG. 6Billustrates a perspective view of left and right side handpieces 124 and122 grasped by a user's hands according to some embodiments.

Referring to FIG. 6A, a pincher 308 a of the handpiece 124 a is disposedon the right side of a body 325 a. In such case, a user's left thumb 710can be positioned on the pincher 308 a of the handpiece 124 a to closeor open the pincher 308 a. Furthermore, the remaining four fingers maybe positioned on the left side of the body 325 a. A user's index finger720 may be positioned on the top surface of the body 325 a to actuatethe input control interface 326 a.

Referring to FIG. 6B, the left side handpiece 124 is grasped by a user'sleft hand, whereas the right side handpiece 122 is grasped by a user'sright hand. The operator's left index finger 720 is shown operating theleft pincher 308 (partially shown) whereas the operator's thumb 710 isshown grasping the body 325 of the handpiece 124. Furthermore, theoperator's right index finger 740 is shown operating the right pincher328 whereas the operator's thumb 730 is shown grasping the body 325 ofthe handpiece 122. The operator can open and close the left and rightpinchers 308 and 328 by making pincher movements (for example, bypressing the respective paddle ends 313 and 333) with the index fingersrespectively.

The left handpiece 124 may be rotated by a user's left hand.Furthermore, the right handpiece 122 may be rotated by a user's righthand about the center of the front plate 334. For the left hand piece124, a user's thumb 710 and a portion of a user's palm may grasp orsupport the handpiece 124, whereas one of the index finger 720, middle,ring and pinky fingers can be used to operate the pincher (not shown),for example, via a fingertip. Similarly, for the right hand piece 122, auser's thumb 730 and palm may grasp or support the handpiece 122,whereas one of the index finger 740, middle, ring and pinky fingers canbe used to operate the pincher 328 (not shown), for example, via afingertip. The pincher 308 of the left handpiece 124 and the pincher 328of the right handpiece 122 may be sized such that when grasped by thehand of an average operator, the fingertips on the respective pinchersare positioned to receive distal phalanges of the operator's finger720/740 and thumb 710/730.

The single control lever 328 of the right handpiece 122 may produce acontrol signal for the right input device 132 configured tosimultaneously move one or a pair of jaws of a corresponding surgicaltool. Furthermore, the single control lever 308 of the left handpiece124 may produce a control signal for the left input device 112configured to simultaneously move one or a pair of jaws of acorresponding surgical tool.

Additional Handpiece Examples

FIG. 7 illustrates a perspective view of a right side handpiece 122 b inan open position according to some embodiments. The handpiece 122 b ofFIG. 7 has a different shape compared to the previous handpieceexamples. For example, the handpiece 122 b has a relatively long andsubstantially linear housing 322 a. Furthermore, the handpiece 122 b hasa pincher 328 disposed near the top of a body 325. The handpiece 122 bhas a paddle with a relatively narrower width (measured in alongitudinal direction of the handpiece).

FIG. 8 illustrates a perspective view of a left side hand controller 124b in an open position according to some embodiments. The handpiece 124 bof FIG. 8 has a different shape compared to the previous handpieceexamples. For example, a portion of the body 305 and a portion of ahousing 322 b are cut. Thus, the housing 322 b is relatively short. Thehousing 322 b is also generally linear.

FIG. 9 illustrates a perspective view of another handpiece 117 in anopen position according to some embodiments. The hand controller 117includes two pinchers 309 and 316 respectively disposed on the left andright sides of the body 327. In such case, as the pinchers 309 and 316are opened and closed, one or a pair of jaws of the instrument areopened and closed. A detailed operation of a two pincher handpiece isdescribed in U.S. Patent Publication No. 2018/0168758, which isincorporated by reference in its entirety.

It is appreciated that the handpieces shown in FIG. 3A to FIG. 9 aremerely examples and the present disclosure is not limited thereto. Forexample, it is possible to provide many other handpieces including oneor more of the following variations: different body shapes, differentpincher shapes or dimensions, different numbers of pinchers, differentpositions, shapes or numbers of input control interfaces, and/ordifferent positions of other handpiece elements may also be possible.

Assembly of Handpiece

FIG. 10 illustrates an assembly view of the handpiece 122 of FIG. 3Baccording to some embodiments. FIG. 10 is merely an example assemblyview of the handpiece 122, and certain elements may be removed, otherelements added, two or more elements combined or one element can beseparated into multiple elements depending on the specification andrequirements of the handpiece. Referring to FIG. 10, the upper and lowerhandpiece housings 322 and 324 accommodate a first PCB 350, a first PCBcarrier 354, a wiper (or extension or inner paddle) 370, a bar magnet(hereinafter to be interchangeably used with a “magnet,” “magneticportion,” or a “magnetic target”) 352, a compression spring 348 and apivot joint 372. The upper and lower housings 330 and 332 accommodate acenter mount 342, a vibration motor (or a haptic actuator) 344 and asecond PCB 326. The upper housing 330 has an opening 346 thataccommodates and exposes a top surface of the second PCB 326. The frontplate 334 and a front plate label 338 are connected to the center mount342 via a screw 336 and a threaded insert 340.

The first PCB 350 may include a pincer angle detector and/or a presencedetector (to be described in greater detail below). The first PCB 350may also include a handpiece feedback control device (to be describedlater). The first PCB holder 354 accommodates the first PCB 350. The barmagnet and/or the compression spring 348 can also be used to detect apincer angle in connection with the pincer angle detector as describedherein. The pincher 328 may be rotatably fixed to an interior portion ofthe upper and lower handpiece housings 322 and 324 via a pin (not shown)inserted into a pin hole 334 of the pivot joint 372. For example, thepincher 328 may rotate laterally from a side portion of the body 325about the pivot joint 372.

The second PCB 326 may include an IC for driving a trackpad or acapacitive touch surface 326 a for user input and gesture control (to bedescribed in greater detail below). The trackpad or capacitive touchsurface may be positioned on the top surface of the second PCB 326. Thesecond PCB 326 may also include one or more of the pincer angledetector, the presence detector or the handpiece feedback controldevice. The vibration motor 344 may be mounted on the center mount 342.However, the vibration motor 344 may be located in other positionsinside the handpiece 122. The vibration motor 344 can be used forproviding a haptic feedback to an operator (to be described in greaterdetail below).

Paddle Actuation Sensing/Pincer Angle Detection

As described herein, the pincher or paddle moves between a closedposition and an open position. The open position includes a partiallyopen position and a completely open position. The paddle would form apincer angle with respect to a side surface of the handpiece body facingthe paddle. In some cases, the pincer angle is the minimum at the closedposition and the maximum at the completely open position. In operation,the pincer angle would be between the minimum and maximum at a partiallyopen position. As the paddle moves from a closed position to a partiallyor completely open position, the one or more jaws of the surgicalinstrument also move to correspond to the movement of the paddle.Furthermore, as the paddle moves from the open position to the closedposition, the one or more jaws of the surgical instrument also move tocorrespond to the movement of the paddle. Thus, it is advantageous tosense or detect an accurate position of the paddle or a pincer angle inorder to more precisely control the movement of the surgical instrument.

Pincer angle detection or paddle actuation sensing can be done invarious ways. In some cases, pincer angle can be detected bymagnetically or inductively sending a movement of a metallic portion ortarget disposed in the wiper or paddle. For example, a magnetic angulardetector, an inductive/eddy current detector or proximity sensor can beused for pincer angle detection. However, other detection methods canalso be used as long as they can detect a position of the paddle or apincer angle with respect to the body, or distance between the paddleand the body. Although the pincer angle detection or paddle actuationsensing is described in connection with one paddle handpiece, it can beapplied to a handpiece having two paddles. In such cases, since the twopaddles of the handpiece would move symmetrically, pincer angledetection for only one of the paddles may be sufficient to control themovement of the surgical instrument.

1. Magnetic Angular Detector for Detecting Wiper Movement

This method detects an angular movement of a magnetic portion or targetthat moves, when a pincher laterally moves with respect to a sidesurface of the handpiece body. In some cases, the magnetic target can beattached to and move along with the wiper, when the pincher laterallymoves with respect to the side surface of the body. In some cases, atleast a portion of the wiper can be a magnetic target. For example, apart or the entirety of the wiper can be formed of a magnetic material.In such cases, no separate magnet is required. Magnetic angle detectionmay provide several advantages over magnetic strength detection,primarily because angle does not drift with time or temperature (unlikestrength).

FIG. 11A illustrates a close-up plan view of the pincher 328 showingmagnetic angular detection according to some embodiments. FIG. 11Billustrates a close-up plan view of the wiper 370 and a magnetic angulardetector according to some embodiments. The pincher 328 includes apaddle 329 disposed outside the body 325 and a wiper 370 disposed insidethe body 325. Referring to FIG. 11A, the paddle 329 laterally movesbetween a closed position 329 a and an open position 329 b so that thepaddle 329 forms a pincer angle (θ) with respect to a surface of thehandpiece body facing the paddle 329. As the paddle 329 laterally movesbetween the closed position 329 a and the open position 329 b, the wiper370 moves in an opposite direction between a substantially parallelposition 370 a and an angled position 370 b as shown in FIG. 11A. Whenthe paddle 329 and the wiper 370 move in opposite directions, the twopincher elements 329 and 370 maintain a substantially parallel andspaced-apart relationship with respect to each other as indicated by twoparallel dotted lines 371 in FIG. 11A. In some cases, the paddle 329 andthe wiper 370 may not be substantially parallel but would maintain aspaced-apart relationship. The paddle 329 and the wiper 370 mayelastically move between the open position and the closed position viathe compression spring 348 disposed inside the handpiece body or byother appropriate means, for example as described above.

In the closed position, the pincer angle (θ) may be generally zero, asthe paddle 329 would contact the side surface of the handpiece body 325.In the completely open position, the pincer angle (θ) may be about 12.5°to about 15°. Thus, the paddle 329 may move between the pincer angles inthe range of 0° to 15°. However, the maximum pincer angle can be lessthan or greater than about 15° depending on the embodiment. The wiper370 may generally form the same angle between the two positions 370 aand 370 b as the pincer angle, as the wiper 370 and the paddle 329 arefixed relative to each other.

In some embodiments, the magnet or magnetic target 352 may be attachedto the wiper 370. In such cases, the wiper 370 may or may not be formedof a metallic material, as long as the magnet 352 can be attached to thewiper 370, for example, via adhesive. In some cases, the wiper 370 maybe formed at least partially of a magnetic material. For example, aportion of the wiper 370 may be a magnet or the entirety of the wiper370 can be a magnet. In such cases, no separate magnetic target needs tobe attached to the wiper 370.

The first PCB 350 may include a magnetic angular detector configured todetect an angular movement of the magnetic target 352 that rotates orlaterally moves along with the wiper 370 about the pivot joint 372(ergonomic features of the pivot joint and paddle design to be describedat the “Handpiece Ergonomic Features” section later). In some cases, themagnetic angular detector can be implemented with, for example,integrated circuits (ICs) available from Monolithic Power Systems Inc.(MPS). The MPS ICs generally detect the absolute angular position of apermanent magnet, typically a diametrically magnetized cylinder on arotating shaft. The MPS ICs can be tunable and can provide a robustsolution. For example, the MPS ICs may achieve greater than about 9 bitsof resolution over the 12.5° range of the pincer angle.

In some cases, the magnetic angular detector can be implemented with,for example, ICs available from Analog Devices Inc. (ADI). The ADI ICscan be an anisotropic magnetoresistive (AMR) sensor with integratedsignal conditioning amplifiers and ADC drivers that can produce twoanalog outputs indicating the angular position of the surroundingmagnetic field.

MPS ICs and ADI ICs are merely example magnetic angular detectors thatrealize the magnetic angular detection, and other magnetic angulardetecting circuits can also be used as long as they can detect anangular movement of a magnet attached to or integrally formed with thewiper 370. In some cases, the magnet 352 may include rare earth magnets.Rare earth magnets generally decay at a rate of less than 1% per decade.In some cases, any magnet could be used for the magnet 352.

2. Inductive/Eddy Current Detector

This method uses the concept of inductive or eddy current that isinduced at an inductive coil when a metallic target moves over the coil.In some cases, the metallic target may be disposed in or integrallyformed with the wiper, and move in an arced or curved path over theinductive coil disposed inside or outside the wiper. In some cases, themetallic target may be attached to or integrally formed with the paddle,and move in an angled path with respect to the inductive coil. For thepurpose of convenience, the description will be made for the metallictarget which is attached to either the wiper or the paddle (instead ofbeing integrally formed with the wiper or the paddle). Theinductive/eddy current detector is different from the magnetic angulardetector in that the former does not require the use of a magnet. Thismethod is also inherently resilient to outside electro-magneticinterference, as no magnet is required.

A. Inductive/Eddy Current Sensor for Detecting Target in Wiper

FIG. 12A illustrates a conceptual diagram showing an angular magneticdetection method for a metallic portion or target 369 disposed in thewiper 370 according to some embodiments. The first PCB 350 shown in FIG.11B may include an inductive detector that can detect a metallic target(or metallic portion) moving in an arced path with respect to aninductive coil disposed in the first PCB 350. In some cases, the firstPCB 350 may include both the magnetic angular detector and the inductivedetector. In some cases, a separate PCB may be used to accommodate theinductive sensor.

The operation of an inductive detector for detecting a metallic target369 at the wiper 370 is described with respect to FIG. 12A. Theinductive detector may detect a curved or arced movement of the metallictarget 369, when the paddle 329 moves laterally from side portion of thebody 325. Referring to FIGS. 11A and 12A, the wiper 370 and the metallictarget 369 move in a curved path between the two positions 370 b and 370a over a curved PCB coil layout 382 of the inductive detector, as thepaddle 329 moves in a curved direction opposite to the curved path ofthe wiper 370. The curved PCB coil layout 382 may be manufactured bybending a linear PCB coil layout into an arc track during PCB layout.The linear PCB track can be shaped to suit whatever path a metallictarget takes.

The metallic target 369 disposed in the wiper 379 may move onsubstantially the same plane (or substantially parallel planes) as theplane on which the curved PCB coil layout 382 is positioned (forexample, substantially coplanar). In some cases, to allow for differentshapes of hand pieces, the metallic target 369 disposed in the wiper 379may move on a different plan as the plan on which the curved PCB coillayout 382 is positioned. Therefore, the metallic target 369 can trackthe curved PCB coil layout 382, as the wiper 370 moves in the curvedpath. As the metallic target 369 moves over the curved PCB coil layout382, electrical current is induced at the curved PCB coil layout 382.The metallic target 369 may have a trapezoidal shape as shown in FIG.12A to more closely track the curved path over the curved PCB coillayout 382.

In some cases, the PCB coil layout 382 may include one transmitter coiland two receiver coils in different paths. The inductive sensor maydemodulate and process secondary voltages received at the receivercoils, and obtain a signal representing the metallic target's position.The inductive sensor can be implemented with, for example, ICs availablefrom Integrated Device Technology, Inc. (IDT). The IDT ICs can comparevoltage values received at two receiver coils, combine this comparisonwith the knowledge of their different paths, and may cancel out certainmechanical tolerances (for example, even if the metal target were a bitoff angle and it would not severely impact the result).

B. Inductive/Eddy Current Sensor for Detecting Target in Paddle

The pincer angle may be detected by inductively sensing a movement of ametallic target disposed in the paddle. In some cases, the movement ofthe metallic target in the paddle may be sensed by a linear coilinductive sensor. In some cases, the movement of the metallic target inthe paddle may be sensed by a spiral-shaped coil inductive sensor.

a. Linear Coil Inductive Detector

FIG. 12B illustrates a perspective view of a handpiece including alinear coil inductive detector 383 for sensing the movement of ametallic target 387 disposed in the paddle 329 according to someembodiments. FIG. 12C illustrates a plan view of the handpiece includingthe linear coil inductive detector 383 of FIG. 12B. FIG. 12D illustratesa modified PCB coil layout 385 a for the linear inductive detector 383shown in FIGS. 12B and 12C according to some embodiments. FIG. 12Eillustrates a standard PCB coil layout 385 b for a linear coil inductivedetector.

Referring to FIG. 12B, the linear coil inductive detector 383 mayinclude a linear coil sensor 384 and a PCB coil layout 385. Referring toFIGS. 12B and 12C, the inductive detector 383 is disposed inside thehandpiece so that the PCB coil layout 385 faces the metallic target 387disposed in the paddle 329. In some cases, the inductive detector 383 orat least the PCB coil layout 385 of the detector 383 may be disposedinside the paddle 329. In such cases, the metallic target may bedisposed inside the handpiece body to face the PCB coil in the paddle329. Furthermore, when the PCB coil layout 385 is disposed inside thepaddle 329, the linear coil sensor 384 may be disposed inside the body.

When the paddle 329 moves between the closed position 329 a and the openposition 329 b (see, for example, FIG. 11A), it does not directlyapproach nor directly move away from the PCB coil layout 385. Instead,the paddle 329 moves with respect to the PCB coil layout 385 at anangle. Thus, the plane of the PCB coil layout facing the metallic target387 would not be parallel to the plane of the metallic target 387. Thus,unlike the metallic target 369 disposed in the wiper 370 that moves inparallel with respect to the PCB coil 382, the PCB coil layout 385 andthe metallic target 387 are not coplanar except that in the closedposition of the paddle 329, the target 387 and the coil layout 385 wouldbe coplanar.

The operation of the linear coil inductive detector 383 is describedwith respect to FIG. 12C. In FIG. 12C, the paddle and wiper in thedotted lines represent that the paddle 329 and the wiper 370 are in aclosed position. The metallic target 387 forms a pincer angle (θ) in anopen position. As the paddle 329 laterally moves from the open position(θ) to the closed position (generally 0°), the metallic target 387 (forexample, a middle portion thereof) moves with respect to the PCB coillayout 385 from a position A to a position B on the PCB coil layout 385.Furthermore, as the paddle 329 laterally moves from the closed positionto the open position (θ), the metallic target 387 moves with respect tothe PCB coil layout 385 from the position B to the position A on the PCBcoil layout 385. In some cases, the inductive sensor 384 may processsecondary voltages received at the receiver coils on the PCB coil layout385, and obtain a signal representing the position of the metallictarget 387. In some cases, the inductive sensor 384 can be implementedwith, for example, ICs available from IDT.

In some cases, the PCB coil layout may have a modified linear coillayout 385 a shown in FIG. 12D. The non-coplanar nature of the metallictarget 387 with respect to the PCB coil layout 385 may become moresubstantial as the pincer angle becomes greater, and may become lesssubstantial or insignificant as the pincer angle approaches zero. Themodified PCB coil layout 385 a may adjust the change in output of thesensor 384 due at least to the change in proximity to the metallictarget 387 so that the output may become substantially the same as thestandard linear layout 385 b shown in FIG. 12E. In some cases, anadditional adjustment may be made by a further modification to themodified PCB coil layout 385 a and/or by a processor in order to furthercompensate the non-coplanar nature of the movement of the metallictarget 387. This additional adjustment by the processor may be made tothe modified coil layout 385 a or the standard coil layout 385 b.

In some cases, the metallic target 387 may also have a modified shape inorder to at least partially compensate the non-coplanar nature of themovement of the metallic target 387 with respect to the PCB coil layout385. For example, the metallic target 387 may have a generallytrapezoidal shape (not shown) that is generally inverse with respect tothe modified PCB coil layout 385 a shown in FIG. 12D. For example, thetrapezoidal shape of the metallic target 387 may have the height of theleft side smaller than the height of the right side, unlike thetrapezoidal shape of the modified PCB coil layout 385 a where the heightof the right side is smaller than the height of the left side. In somecases, paddle 329 may be modified such that a curvature of paddle or atleast the inside face of paddle (the side of the paddle facing the bodyof the handpiece) may be slightly curved as opposed to being linear (asshown in the drawings, see for example FIG. 4A). The metallic target 387would also follow this curvature. In some cases, only the metallictarget 387 would be modified to be curved. This curvature of the paddle,paddle face and/or the metallic target 387 would provide a differentamount of area of the metallic target that would be substantiallycoplanar with the PCB coil layout 385 as the pincher is depressed (movedlaterally). The curvature could compensate the non-coplanar nature ofthe movement of the metallic target 392 with respect to the PCB coillayout 385. The described modifications are merely examples, and othermodifications to the PCB coil layout 385, the metallic target 387,positioning of the PCB coil layout, curvature of the PCB coil layoutand/or the modification by a processor may also be made so that themetallic target may follow a substantially coplanar moving path withrespect to a sensor coil or at least the output from the inductivesensor follows a more standardized output.

b. Spiral Coil Inductive Detector

FIG. 13A illustrates a perspective view of a handpiece including aspiral coil inductive detector 394 (sensor circuitry not shown;hereinafter to be interchangeably used with “spiral coil layout”) forsensing the movement of a metallic portion or target 392 disposed in thepaddle 329 according to some embodiments. FIG. 13B illustrates a planview of the handpiece including the spiral coil inductive detector 394of FIG. 13A. FIG. 13C illustrates a modified coil layout 394 a for thespiral inductive detector 394 shown in FIGS. 13A and 13B according tosome embodiments. FIG. 13D illustrates a standard coil layout 394 b fora spiral coil inductive detector.

Referring to FIGS. 13A and 13B, the inductive detector 394 is disposedinside the handpiece body so as to face the metallic target 392 disposedin the paddle 329. In some cases, the spiral coil layout 394 may bedisposed inside the paddle 329. In such cases, the metallic target maybe disposed inside the handpiece body to face the coil layout in thepaddle 329.

The operation of the linear coil inductive detector 383 is describedwith respect to FIG. 13B. Referring to FIG. 13B, as the paddle 329laterally moves from the open position (θ) to the closed position (thepaddle in the dotted lines shows that the paddle is positioned in thepincer angle being generally 0°), the metallic target 392 (for example,a middle portion thereof) moves with respect to the coil layout 394 froma position A to a position B on the coil layout 394. Furthermore, as thepaddle 329 laterally moves from the closed position to the open position(θ), the metallic target 392 moves with respect to the coil layout 394from the position B to the position A on the coil layout 394. Theinductive sensor circuitry may process secondary voltages received atthe receiver coils on the spiral coil layout 394, and obtain a signalrepresenting the position of the metallic target 392.

As described herein with respect to FIGS. 12B-12E, the non-coplanarnature of the metallic target 392 with respect to the coil layout 394may become more substantial as the pincer angle becomes greater, and maybecome less substantial or insignificant as the angle approaches zero.In some cases, the spiral coil layout may have a modified coil layout394 a shown in FIG. 13C. The modified coil layout 394 a may have anelliptical shape. The modified coil layout 394 a may adjust the changein output of the sensor due at least to the change in proximity to themetallic target 392 so that the output may become substantially the sameas the standard linear layout 394 b shown in FIG. 13D. In other cases,at least some portion on the right half of the spiral coil (for example,the right end portion of the coil) may be bent toward or away from thepaddle 329 in order to additionally compensate the non-coplanar natureof the movement of the metallic target 392 with respect to the PCB coillayout 394. In some cases, the paddle 329 and/or the metallic target 392may be curved similarly as described above with respect to the “LinearCoil Inductive Detector”.

In some cases, an additional adjustment may be made by a furthermodification to the modified PCB coil layout 385 a and/or by a processorin order to further compensate the non-coplanar nature of the movementof the metallic target 392. This additional adjustment by the processormay be made to the modified coil layout 394 a or the standard coillayout 394 b. In some cases, the spiral coil inductive sensor can beimplemented with, for example, ICs available from Texas Instruments Inc.(TI).

In some cases, the metallic target 392 may also have a modified shape inorder to at least partially compensate the non-coplanar nature of themovement of the metallic target 392 with respect to the PCB coil layout394. For example, the metallic target 392 may have a generallyelliptical shape (as opposed to a circular shape) similar to the spiralcoil 394 a. Furthermore, at least a portion of the metallic target 392(for example, a right half) may be bent toward the coil 394 tocompensate the non-coplanar nature of the movement of the metallictarget 392 with respect to the PCB coil layout 394. The describedmodifications are merely examples, and other modifications to the PCBcoil layout 394 and/or the metallic target 392 (including modificationby a processor) may also be made so that the metallic target may followa substantially coplanar moving path with respect to a sensor coil.

In some cases, the coil layout may instead be included on or inside thepaddle 329 (not shown). In place of PCB traces to produce the coils usedfor inductive sensing, metal shapes on the inside walls of the paddle329 or inside the paddle may be used. Laser direct structuring (LDS) maybe utilized to produce the metals shapes as LDS is appropriate forextremely small and space constrained applications. The LDS metal maydirectly replace the PCB coil, but all of the described restrictions mayapply (coplanar vs proximity, minimum inductance, etc.).

3. Proximity Sensor

The pincer angle can also be detected by a proximity sensor. Theproximity sensor can measure the distance between a sensor coil and ametallic target, as opposed to measuring a coplanar (or substantiallycoplanar) travel of the metallic target. For example, the proximitysensor can directly detect the position of the paddle 329 with respectto the surface of the handpiece body facing the paddle 329. This methodis inherently resilient to outside electro-magnetic interference andsimplifies the mechanical design, by not requiring an external effector(magnet) and by detecting the paddle's movement directly. In some cases,the proximity sensor can be implemented with, for example, ICs availablefrom Texas Instrument (TI).

In some cases, the proximity sensor may be disposed inside the handpiecebody to face the paddle 329. In some cases, as shown in FIG. 14, theproximity sensor can be formed by layering coils across multiple PCBlayers. This design may be advantageous, since the sensor geometry isgenerally more flexible, and thus is useful when there is not much spacelike in a handpiece. Accordingly, the greater distance of the paddlemakes the TI chip a better candidate. In some cases, the proximitysensor may be disposed inside the paddle 329 to face a side surface ofthe handpiece body.

In some cases, the proximity sensor can be implemented with, ICsavailable from IDT. In such cases, the IDT ICs may be positioned insidethe handpiece body, and a metallic target would be in or on the paddle329. As the paddle 329 is compressed, the metallic target would movetoward the IDT ICs and the detected signal may generally become strongeras the paddle 329 approaches the handpiece body. This is a variation ofthe traditional use of the IDT ICs that usually just detect a lineartravel (not proximity). It could detect proximity as the detected signalwould change (become stronger) but the detected signal would not followa linear path but rather a non-linear or log path. However, with thevariables known, the signal could be determined. The TI sensor may be abetter proximity sensor than the IDT sensor, as the TI chip may beconfigured to increase the effective coil length (for example, addingmore PCB layers). Both of the TI and IDT sensors may require someminimum inductance. The inductance is generally proportional to theamount of a PCB coil on the sensor that is laid out.

In some cases, the coils used for inductive sensing can be implementedas PCB traces. In some cases, as shown in FIG. 14, the coils can beimplemented as metal shapes 380 on the inside walls of the handpieceitself. This technique is referred to as laser direct structuring (LDS),and may be utilized for an extremely small and space constrained RFantenna. The choice of a TI or IDT sensor may depend on whether the tailor the paddle is used as a target. The TI product may need less internalprocessing. These more ‘raw’ values would make this implementationeasier to iron out. The LDS metal may directly replace the PCB coil, butall of the described restrictions may apply (coplanar vs proximity,minimum inductance, etc.).

4. Compressing Spring

The pincer angle may be obtained by directly detecting the compressionof the spring 348 that provides resistance to the paddle 329 (see, forexample, FIG. 11B). In this case, an inductor may be a charged coil ofwire, and a spring may be a stiff coil of wire. If the spring werecharged with an alternating current, it would behave like an inductor.Compression of the spring would lead to a linear change in inductance.Post processing may be used to linearize the output of an inductancesensor. In some case, the spring can have an explicit inductor to meetthe minimum inductance. The spring method can be advantageous, as it isinherently linear. Referring to FIG. 33, the inductance of a coil (orspring) 345 is given by the equation below. When the spring 345 iscompressed, its length changes (small l) so that it has a linear effecton the inductance. This can be described by the equation below.

$\mathcal{L} = \frac{N^{2}\mu\; A}{l}$ μ = μ_(r)μ_(o)

Where,

-   -   =Inductance of coil in Henrys    -   N=Number of turns in wire coil (straight wire=1)    -   μ=Permeability of core material (absolute, not relative)    -   μ_(r)=Relative permeability, dimensionless (μ₀=1 for air)    -   μ_(o)=1.26×10⁻⁶ T·m/At (permeability of free space)    -   A=Area of coil in square meters=πr²    -   l=Average length of coil in meters

Presence Detection

As described herein, a handpiece controls the movement of a surgicalinstrument. Thus, it is desirable for a safety purpose to activate thehandpiece when it is safe, for example, when it is grasped by oradjacent to an operator's hand. The presence detector can detect whethera user's hand is present on or within a certain distance of thehandpiece. In some cases, such distance may be a few millimeters, a fewcentimeters, or a few inches. In some cases, the presence detector maydetect an operator's hand contacting the handpiece.

In some cases, the presence detector can be a capacitive proximitysensor and can be disposed on a PCB on the center mount 342 (see, forexample, FIG. 10). The presence detector can be implemented with tworedundant sensors for additional safety purposes. The redundant sensorsmay charge the lower and upper housings 324 and 322 (formed of metal)and use them as their antenna or sense-element. In some cases, thepresence detector can be a metallic coating or a metal shell underneaththe hard plastic shell of the handpiece to effectively create a largecapacitive proximity sensor. The presence detector can be implementedwith, for example, ICs available from Microchip Technology Inc.

In some cases, instead of using a metal shell or coating, a wire, asshown in FIG. 14, may be formed throughout the length of the inside ofthe handpiece to effectively create an antenna. In such cases, coveragemay be less uniform than on a primary path, but there may be potentialmanufacturing advantages. The presence detector may also detect a glovedhand and a double-gloved hand. The presence detector can calibrate thesensor to detect proximity even when a user is lightly touching thehandpiece or not touching it all, for example, a few millimeters away.The presence detector may also be able to detect and differentiatebetween various materials, for example, whether a hand is within adesired proximity (directly coupled or within a tolerated distance), agloved hand is within the desired proximity or whether a differentunwanted object is within the desired proximity. This may be importantto avoid unintended contact of the handpiece and to only allow presenceto be detected when a hand (or gloved hand) of the operator is withinthe desired proximity. The advantage of this mode is that the handpiecedoes not clutch out or disengage from controlling the surgical systemwhen a user moves the fingers or hand on the handgrip.

Input Control Interfaces

User or operator inputs may be provided to the robotic surgery system100 in a number of different ways. For example, movement of thehandpieces 122 and 124 can be used to provide a user input forcontrolling a tool such as a surgical instrument or a camera. As anotherexample, the foot pedal 126 disposed at a lower portion of theworkstation 102 may provide a user input used to perform a certainfunction such as instrument clutching.

Another user input (hereinafter to be interchangeably used with“additional user input” or “second user input”) may be provided via theinput control interface 326 a disposed on an upper surface of thehandpiece body. The input control interface 326 a (see, for example,FIG. 3B) may be configured to control a number of functions for therobotic surgery system 100. The input control interface 326 a mayreceive an input used to control a surgical instrument. The inputcontrol interface 326 a may also receive another input used to zoom inor zoom out a camera. The input control interface 326 a may furtherreceive another input used to turn on and off an illuminator. The inputcontrol interface 326 a may also be used to provide a user input thatcan be provided by other input mechanism such as the foot pedal 126. Inthis case, since the input control interface 326 a is positioned in thehandpiece grasped by an operator during operation, a user input may bemore conveniently and/or more accurately provided than the foot pedal126. The input control interface may be implemented by a mechanicalswitch, a button, a lever, a wheel, a trackpad or a capacitive touchsurface. For the purpose of convenience, shared input control, gesturecontrol and handpiece feedback control below will be described using atrackpad or a touch capacitive surface.

1. Trackpad

In some cases, the second PCB 326 (see, for example, FIG. 10) caninclude a trackpad 326 a as an input control interface. The trackpad 326a may be disposed on the upper surface of the handpiece 122. Thetrackpad 326 a can be used to receive an additional user input such ascamera control or instrument clutch where instrument control isdisengaged. The trackpad 326 a can also be used for direct gesturerecognition with a variety of gestures (hereinafter to beinterchangeably used with “tool functions”). For example, the trackpad326 a can detect swipe of an operator's finger thereon in eitherdirection, swipe and hold in either direction, tap, tap and hold,multiple taps, or multiple taps and hold. In some cases, the trackpad326 a may be sized to receive an input by a fingertip of an averageoperator's finger (for example, index finger or thumb).

The trackpad 326 a (including a trackpad driver) can be implementedwith, for example, ICs available from Azoteq of South Africa. The AzoteqICs may be configured to provide data over Inter-Integrated Circuit(I2C), which can allow the workstation to interpret the gestures. Insome cases, as shown in FIG. 15, the trackpad 326 a can use PCB tracesplaced in a grid pattern 326 b as sensing elements.

2. Capacitive Touch Surface

In some cases, the second PCB 326 can include a capacitive touch surface326 a instead of or in addition to the trackpad (for example, onetrackpad and one capacitive touch surface in different locations). FIG.17A shows an example capacitive touch surface. Referring to FIG. 17A,the capacitive touch surface 326 a may be smooth and glossy. Thecapacitive touch surface 326 a may be made by, for example, padprinting. The capacitive touch surface 326 a can be a capacitive touchIC to directly create a capacitive slide element. In some cases, asshown in FIGS. 16A and 16B, three or four capacitive touch elements 386and 388 (for example, as individual capacitive buttons) can be provided.Although FIGS. 16A and 16B show chevron (or ‘V’ shapes) and rectangularshapes, the capacitive touch elements 386 and 388 may have other shapessuch as line, square, circle, oval or other polygonal shapes.Furthermore, the number of capacitive touch elements may be less thanthree or more than four depending on the requirement of the touch inputsurface 326 a. In some cases, the capacitive touch surface 326 a may besized to receive an input by a fingertip of an average operator's finger(for example, index finger or thumb).

The capacitive touch surface (including a capacitive touch surfacedriver) can be implemented with, for example, ICs available fromMicrochip. In this Microchip device, multiple capacitive touch elementscan be read by a series of digital logic implemented as a complexprogrammable logic device (CPLD) (conceptually similar to afield-programmable gate array (FPGA)) that is programmed only once) torecognize the desired gestures. The Microchip device can be configuredto provide data over I2C, which can allow the workstation to interpretthe gestures.

In some cases, as shown in FIGS. 17B and 17C, the capacitive touchdriver circuitry can be placed directly underneath the gesture area.FIG. 17C shows a cross-sectional view of the second PCB 326 thatincludes a capacitive touch surface 326 a and its drive circuitry. Thesecond PCB 326 may include a capacitive touch IC 359 and an adhesive 357on which the capacitive touch surface 326 a is attached. Other circuitcomponents 361 may also be disposed below the capacitive touch IC 359.

In some cases, the second PCB 326 can include a capacitive button (notshown) that can toggle between two states, for example, betweeninstrument and camera modes. The capacitive button can use in single ordouble-click (or multiple-click) mode. For the input button/switch, acapacitive slider may be used for clutch control from a handpiece,although a single cap button could be acceptable with pressure sensitiveinput (flex). The capacitive slider may be controlled by amicroprocessor. The use of a microprocessor may be beneficial as beinginherently more tunable or customizable. The same microprocessor can beused to control presence detection. The microprocessor may also be ableto drive the haptic engines.

3. Force Sensitive Resistor

The touch input interface 326 a may be implemented by a force sensitiveresistor. The force sensitive resistor may be incorporated underneaththe touch area, and can be made more robust and user friendly. If aclick gesture is required, a capacitive element in addition to thepressing element can be triggered. This button can make a capacitivetouch button feel like a real button.

Shared Input Control

In some cases, in order to minimize the number of input controlsrequired to cause movement of various aspects of a robotic surgicalsystem, certain input controls may be shared. This may reduce overallsystem clutter, such as inadvertent control and/or cognitive overload.

In some cases, the same trackpad 326 a can be used to perform functionsof two or more input controls. When an input control is used to controla first feature/function (for example, instrument clutch), a secondfeature/function (for example, camera control) may be disabled. In somecases, the second feature/function and first feature/function may beoperated mutually exclusively and separately at all times. That is, thesame input control interface can be used to control two or moredifferent devices such as a camera and a clutch at different times.

FIG. 18 illustrates a flowchart for a shared input control process 500according to some embodiments. Referring to FIG. 18, the shared inputcontrol process 500 for a handpiece will be described.

Although the process 500 is described herein with reference to aparticular order, in various implementations, states herein may beperformed in a different order, or omitted, and additional states may beadded. The process 500 may be performed by a processor (not shown). Thisalso applies to the processes 600-900 shown in FIGS. 19, 21, 22 and 26.

In state 410, it is determined whether an operator input has beenreceived at a first state or mode. The operator input can be receivedthrough the input control interface 326 a (see, for example, FIG. 3B).The first state or mode may be a first device operation state or mode,for example, a camera control operation mode or an instrument clutchmode.

The input control interface 326 a may be a trackpad or a capacitivetouch surface as described herein. The trackpad may recognize at leastone of the following types of operator inputs: swipe from a first sideof the trackpad to a second side of the trackpad different from thefirst side, tap, swipe and hold, tap and hold, multiple taps, ormultiple taps and hold, or a combination thereof. The processor mayperform different functions based on the swipe, the swipe and hold, thetap, the tap and hold, the multiple taps, and the multiple taps andhold. The capacitive touch surface may include at least one capacitivebutton that can sense a single-click or a double-click (ormultiple-click), and the processor may perform different functions basedon the single-click or multiple-click. The description of this paragraphapplies to a camera control process 600 shown in FIG. 20 and aninstrument clutch process 700 shown in FIG. 22.

If it is determined in state 410 that the operator input has not beenreceived at the first state, the state 410 may repeat. If it isdetermined in state 410 that an operator input has been received at thefirst state or mode, the processor may control a first function at thefirst state while the second function is disabled at a second state(state 420). For example, the processor may control enabling anddisabling a camera control function in a camera control mode while aninstrument control by the handpieces 122/124 is disabled so that thesurgical instrument(s) would not move even if the handpieces 122/124 aremoved.

In state 430, it is determined whether the first state has been changedto the second state or another different state. The first state can bechanged to the second state or another different state by actuating theinput control interface 326. For example, a camera control operationmode can be changed to an instrument clutch operation mode. If it isdetermined in state 430 that the first state has not been changed to thesecond state, the states 420 and 430 may repeat.

If it is determined in state 430 that the first state has been changedto the second state, the processor may control the second function atthe second state while the first function is disabled. For example, theprocessor may control enabling and disabling an instrument clutchcontrol function in the instrument clutch mode while the cameraoperation is disabled (state 440) so that the camera would not move evenif the handpieces 122/124 are moved.

1. Camera Control

FIGS. 19A and 19B illustrate conceptual diagrams showing a cameracontrol operation according to some embodiments. FIG. 20 illustrates aflowchart for a camera control process 600 shown in FIGS. 19A and 19Baccording to some embodiments.

Referring to FIG. 20, it is determined whether an operator's finger hasbeen swiped forward and held on the input control interface 326 a of thehandpiece 122 (state 450). In some cases, as shown in FIG. 19A, swipingof the operator's finger 390 from a point A to a point B on the inputcontrol interface 326 a can be determined by: i) detecting a contact ofthe operator's finger 390 on the point A; ii) detecting that the finger390 has remained in contact with the input control interface 326 a andmoved to the point B; and iii) detecting that the finger 390 remains atthe point B. If it is determined in state 450 that the operator's fingerhas not been swiped and held, the state 450 may repeat.

If it is determined in state 450 that the operator's finger 390 has beenswiped forward and held on the input control interface 326 a, anassociation of the input devices 132/112 with the surgical instrumentsbecomes disabled, the instruments become disabled, and at least one ofthe input devices 132/112 becomes associated with a camera (state 460).That is, the camera control operation is turned on as shown in FIG. 19A.

In state 470, the camera is controlled by repositioning and/orreorienting at least one of the input devices 132/112. Since theinstruments have been disassociated from the input devices 132/112,repositioning and/or reorienting the input devices 132/112 would have noimpact on the surgical instruments (disabled). In some cases, there maybe only one camera at the surgery site, and only one of the inputdevices 132/112 may control the camera. In these cases, movement of theother input device may have no impact on the camera. In some cases, bothof the input devices 132/112 may be used to move the camera by eitherlocking the relative movement of each of the input device 132/112 toeach other or averaging the movement of the input devices.

In state 480, it is determined whether the operator's finger has beenreleased from the point B of the input control interface 326 a, as shownin FIG. 19B. If it is determined in state 480 that the operator's fingerhas not been released, the states 470 and 480 may repeat.

If it is determined in state 480 that the operator's finger 390 has beenreleased from the point B, an association of the input devices 132/112with the camera becomes disabled, the camera becomes disabled, and atleast one of the input devices 132/112 becomes associated with thesurgical instruments (state 490). That is, the camera control operationis turned off as shown in FIG. 19B. In some cases, control of theinstruments may occur automatically upon the camera turning-off or uponanother subsequent intervening event such as tapping the foot pedal 126.

The described operator inputs (swiping forward and held/release) andcorresponding controls (turning on and off the camera control) aremerely examples, and many other combinations of input types by the inputcontrol interface and corresponding controls are possible. For example,operator inputs such as tap, tap and hold, multiple taps, multiple tapsand hold, swiping backward, swiping backward and hold, multiple swiping(forward or backward), multiple swiping (forward or backward) and hold,or combinations thereof can be used to turn on or turn off the cameracontrol operation. Furthermore, operator inputs may be received viaother input interfaces such as a mechanical switch or button, a lever,self-centering wheel, or other non-trackpad or non-touch capacitivesurface, as long as the same input control interface can share inputcontrols for multiple functions associated with one or more surgicaldevices. The description of this paragraphs applies to the instrumentclutch operation procedure below.

2. Instrument Clutch

FIGS. 21A and 21B illustrate conceptual diagrams showing an instrumentclutch operation according to some embodiments. FIG. 22 illustrates aflowchart for an instrument clutch process 700 shown in FIGS. 21A and21B according to some embodiments.

During operation of an input device, an operator frequently will reachthe physical limits of repositioning the input device based on themechanical limits of the device itself or the operator's arms. Thus,instrument clutching is advantageous when repositioning the inputdevices to enable a greater workspace. To allow the operator to “reset”or “re-center” their workspace, the operator would clutch to releaseassociation of the input device with a controlled slave instrument. Uponclutching, the input device may be repositioned while the instrumentsremain fixed. Upon unclutching, the association would be reestablished.Any errors introduced upon re-association such as orientationmisalignment between the input device orientation and that of theinstrument end-effector may be corrected by methods described in U.S.Patent Publication No. 2018/0271607 and U.S. Patent Publication No.2018/0367777, which are assigned to the assignee of the presentapplication and the disclosures of which are incorporated by referencein their entirety.

Referring to FIG. 22, it is determined whether an operator's finger 390has been swiped backward on the input control interface 326 a andreleased therefrom (state 510). In some cases, as shown in FIG. 21A,swiping of the operator's finger 390 from a point B to a point A on theinput control interface 326 a can be determined by: i) detecting acontact of the operator's finger 390 on the point B; ii) detecting thatthe finger 390 has remained in contact with the input control interface326 a and moved to the point A; and iii) detecting that the finger 390has been released from the point A. If it is determined in state 510that the operator's finger has been swiped backward and released, thestate 510 may repeat.

If it is determined in state 510 that the operator's finger 390 has beenswiped backward and released from the point A on the input controlinterface 326 a, an association of the input devices 132/112 with thesurgical instruments becomes disabled and the instruments becomedisabled (state 520).

In state 530, the input devices 132/112 are repositioned without movingthe instruments. Since the surgical instruments have been disassociatedfrom the input devices 132/112 in state 520, the movement of the inputdevices 132/112 would have no impact on the instruments.

In state 540, it is determined whether an operator's finger 390 has beenswiped backward again on the input control interface 326 of thehandpiece 122 and released therefrom (state 510). This can be determinedin the same way as described with respect to state 510. If it isdetermined in state 540 that the operator's finger has not been swipedbackward and released, the states 530 and 540 may repeat.

If it is determined in state 540 that the operator's finger 390 has beenswiped backward and released again from the point A on the input controlinterface 326, an association of the input devices 132/112 with thesurgical instruments is re-enabled (state 550). See also FIG. 20B. Sincethe surgical instruments have been associated with the input devices132/112, the movement of the input devices 132/112 will move theinstruments.

In some cases, control of the instrument may occur automatically uponde-clutching or upon another subsequent intervening event such astapping the foot pedal 126.

Gesture Controls (Tool Function Controls)

Gesture controls (hereinafter to be interchangeably used with “toolfunction controls”) using a trackpad 326 a (see, for example, FIG. 10)or another secondary control interface can be used to cause the systemto function in various ways including causing the system to performpre-set routines and functions. For example, swiping of the finger fromone side to the other on the trackpad 326 a may cause the surgicalinstrument to become locked in the state it is presently in (forexample, one or more jaws of the instrument fixed in that position).This may be useful for situations where the user desires the surgicalinstrument to continue to grasp whatever it is grasping while the userrepositions the input device. In other examples, certain gestures maycause the system to perform a preset routine such as certain surgeryroutines. Such gestures and resultant “auto” features may help reduceuser fatigue.

FIG. 23 illustrates a flowchart for the gesture control process 800according to some embodiments. The gesture control process 800 may beperformed by a processor (not shown). Referring to FIG. 23, the gesturecontrol process 800 will be described.

In state 610, it is determined whether an operator input has beenreceived. The operator input can be received via the input controlinterface 306 a or 326 a (see, for example, FIGS. 3A and 3B). If it isdetermined in state 610 that the operator input has not been received,the state 610 may repeat.

If it is determined in state 610 that an operator input has beenreceived, it is determined whether the received operator input relatesto one or more of a plurality of gestures or tool functions (state 620).The predetermined gestures or tool functions may include a predeterminedsurgery routine such as suturing (partial or complete suturing),cutting, grasping or moving in a predetermined direction. The suturingmay include complete suturing and partial suturing. The predeterminedsurgery routine may also include moving the surgical tool in apredetermined direction. The predetermined direction may include alinear direction, a curved direction, a clockwise direction, acounterclockwise direction, semi-circular direction, or a circulardirection. In some cases, the predetermined direction may be based onthe pattern of the swipe/gesture itself (for example, a curved gesturemay result in a movement in a curved direction). The tool functions mayalso include causing a lens of a camera to be washed, causing the camerato zoom in and out, causing the camera to pan, or causing the camera totilt.

When the input control interface 326 a is a trackpad, the trackpad maysense swiping of an operator's finger from a first point on the trackpadto a second point on the trackpad different from the first point, andthe processor may control the surgical tool to remain adjacent to acurrent surgery position. For example, the processor may control thesurgical tool to become locked in the current surgery position. Thepredetermined tool functions corresponding with the operator inputs maybe stored in a memory being in data communication with the processor.

If it is determined in state 620 that the operator input relates to thepredetermined tool functions, the processor may perform thepredetermined tool functions (state 630). If it is determined in state620 that the operator input does not relate to the predetermined toolfunctions, the processor may perform normal input control functions thatare not associated with the predetermined tool functions (state 640).

Handpiece Feedback Control

When an operator operates the input devices, the handpiece may provide afeedback to the operator. In some cases, the feedback may be providedwhen the operator switches a function from a first mode to a second modedifferent from the first mode. The feedback may include a hapticfeedback, a visual feedback, an audio feedback, a tactile feedback or aforce feedback, or a combination thereof. This feedback function may beuseful to an operator or user since they can be notified when a functionis switched between different modes. This may enhance safety, as theoperator can be assured by the feedback that their input has beenproperly received by the system, and thus he or she is in a certainoperation mode that is intended. The feedback device may be located in aportion of the handpiece that would contact the palm of the user tofacilitate a better or more significant feel of the feedback. Types ofactuation provided by the feedback device may be different for eachfunction, for example, to allow the user to determine which functionthey have enabled based on feedback alone. Types of feedback may beconfigurable by the user. Users may want to enable the change based onpersonal preference especially in view of signals/patterns they arefamiliar with in a non-surgery environment, for example, car, phone ortablet, etc. In some cases, a driver or controller of the feedbackdevice may be located outside the handpiece, for example, somewhere inthe workstation 102, whereas an actuator of the feedback device may belocated in the handpiece, as long as an operator may be provided afeedback by the handpiece upon a function change. In some cases,multiple feedback devices may be included in the handpiece at differentlocations to make it easier for the user to better recognize thefeedback and/or distinguish the various types of feedback. For example,a first feedback device may be included in the portion of the handpiecethat would contact the palm while a second feedback device may beincluded in a portion of the handpiece near a location contacted by theuser's thumb or proximate the distal portion of the handpiece (as shownin FIG. 25A near 344).

FIG. 24 illustrates a flowchart for a handpiece feedback control process900 according to some embodiments. The process 900 may be performed by aprocessor or controller. Referring to FIG. 24, the handpiece feedbackcontrol process 900 will be described.

In state 810, it is determined whether a function has been switched froma first mode to a second mode. During operation, an operator may switcha function between modes. In some cases, the function switching may besensed by the input control interface 326 a. The function may includecontrolling a camera that images a surgery site, instrument clutching toreposition the hand grip apparatus, pre-set surgery routines, or otheroperation to control the surgical tool. In some cases, when the functionis controlling the camera, the first mode may be enabling the cameracontrol and the second mode may be disabling the camera control. In somecases, when the function is instrument clutching, the first mode may beenabling instrument clutching and the second mode may be disabling theinstrument clutching. The function switching may originate in the handgrip apparatus 122/124 or the foot pedal 126 of the robotic surgerysystem 100. A function switch can originate in the handpiece and/or thefoot pedal 126. If it is determined in state 810 that the functionswitching has not occurred, the state 810 may repeat.

If it is determined in state 810 that the function has been switchedfrom the first mode to the second mode, the processor may provide afeedback to an operator (state 820). The feedback may include haptic,visual, audio, tactile, force or any other feedback, or a combinationthereof, that can notify the operator about the mode change. After thefeedback is provided, the handpiece may operate at the second(different) mode (state 830). For example, when an association of thecamera with handpieces is re-enabled, the operator may continue tocontrol the camera with the use of at least one of the handpieces.

In state 840, it is determined again whether a function has beenswitched from the second mode to another mode (such as the first mode orthird mode). If it is determined in state 840 that the function has notbeen switched from the second mode to another mode, the states 830 and840 may repeat. If it is determined in state 840 that the function hasbeen switched from the first mode to the other mode, the processor mayprovide a feedback to the operator (state 850). The processor mayperform the states 840 and 850 substantially the same way as with states810 and 820.

1. Haptic Feedback

The handpiece feedback device can include a haptic feedback device. Insome cases, the haptic feedback device may include a haptic actuator anda haptic driver. The haptic actuator may include a motor or actuatoravailable from Texas Instruments. The haptic actuator may provide ahaptic feedback in the form of vibration. The haptic driver (processoror controller) may drive the haptic actuator to provide a vibrationalfeedback when a robotic surgery function is switched from a first modeto a second mode.

The vibrational feedback may have a variety of different vibrationpatterns. For example, the vibration can have different strength levels,different durations, directions or intervals (if multiple vibrationsinvolved). Furthermore, different types or patterns of vibration may beused for different mode switching and may be user configurable.Alternatively, the same vibration can be used for all mode switching.

In some cases, the haptic driver may be implemented with, for example,ICs available from Texas Instruments. The TI ICs may be I2C controlledand can be triggered by the workstation.

In some cases, as shown in FIG. 25A, the haptic feedback device 344 canbe mounted directly in front of the gesture area, for example, on thecenter mount 342 of the handpiece. In some cases, as shown in FIG. 25B,the haptic feedback device 344 can be mounted in the lower handle/gripelement (for example, inside the lower region of the upper and lowerhousings 324 and 322). However, the haptic feedback device 344 can bemounted in any other region in the handpiece, as long as it can providea haptic feedback, when the user switches from one mode to another. Insome cases, the haptic actuator may be provided inside the handpiece,and the haptic driver may be positioned outside the handpiece, forexample, somewhere in the workstation 102 where the haptic driver canremotely control the haptic actuator. In some cases, multiple hapticactuators may be provided inside the handpiece, for example as shown inboth FIGS. 25A and 25B at 344.

2. Visual Feedback

The handpiece feedback device can include a visual feedback device. Thevisual feedback device may include a light source and a controller (notshown). The controller may sense whether a function is switched betweendifferent modes and control the light source to emit light based on thesensed function switching. The light source may be any light emitter orgenerator such as an LED. The light source may be disposed around theinput control interface 326 a. However, the light source can be disposedin any other location in the handpiece as long as light emitted by thelight source can be recognized by an operator. The light source can emitlight in a single color or multiple colors. The light source can emitlight having a particular shape. The different shapes and/or colors oflight may be emitted according to different modes of the function to beswitched and may be user configurable.

3. Audio Feedback

The handpiece feedback device can include an audio feedback device. Theaudio feedback device may include a speaker and a controller (notshown). The controller may sense whether a function is switched betweendifferent modes and control the speaker to make sound based on thesensed function switching. The speaker may be disposed around the inputcontrol interface 326 a. However, the speaker can be disposed in anyother location inside or outside the handpiece as long as sound can beheard by an operator. The sound can have a variety of patterns, in termsof types of sound, volume levels, sound duration or interval (ifmultiple types of sound involved). The different types of sound may beoutput according to different modes of the function to be switched andmay be user configurable.

4. Tactile Feedback

The handpiece feedback device can include a tactile feedback deviceconfigured to provide a tactile feedback in response to the functionswitching. The tactile feedback may include a variety of types offeeling that an operator may have on a portion of the handpiece. Theportion of the handpiece may be the input control interface 326 a or anyother location in the handpiece where an operator can recognize atactile feedback. The tactile feedback may include one or more of: abump, a beak, a grove, a lip, or a texture difference (for example,course finish to smooth finish in the input control interface 326 a).The different types of tactile feedback may be provided according todifferent modes of the function to be switched and may be userconfigurable.

5. Force Feedback

The handpiece feedback device can include a force feedback deviceconfigured to provide a tactile feedback in response to the functionswitching. The force feedback may include a variety of types of forcethat an operator may sense on a portion of the handpiece. The portion ofthe handpiece may be the input control interface 326 a or any otherlocation in the handpiece where an operator can recognize a forcefeedback. The force feedback may include a self-centering wheel.

Handpiece System Block Diagram

FIG. 26 illustrates a block diagram of a handpiece 1000 according tosome embodiments. Referring to FIG. 26, the handpiece 1000 includes aproximity detector 910, a slider board 920, a haptic feedback device930, a pincher encoder 940 including a magnetic angular encoder 940 aand/or an inductive sensor 940 b, and a communication board 950.Although a number of separate components are illustrated in FIG. 26,those of skill in the art will recognize that one or more of thecomponents may be combined or commonly implemented. For example, theproximity detector 910, the magnetic angular encoder 940 and/or theinductive sensor 950 may be implemented in a single PCB, for example,the first PCB 350 or the second PCB 326 described with respect to FIG.10. Further, at least one of the components illustrated in FIG. 26 maybe implemented using a plurality of separate elements or may be omitted.As another example, all of the components 910-950 may be implemented ina single PCB. Another processor or controller, disposed either inside oroutside the handpiece 1000, may also be used to control one or more ofthe components 910-950.

In some cases, all of the components 910-950 may be disposed inside thehandpiece 900. In some cases, at least one of the components 910-950 maybe disposed outside the handpiece 900, for example, somewhere in therobotic surgery system 100 such as in the workstation 102 (see, forexample, FIG. 1). Although FIG. 26 shows that all of the components910-950 communicate data with each other via a wired network, at leastone of the components 910-950 may wirelessly communicate data with oneor more of the remaining components.

The proximity detector or presence detector 910 may detect whether auser's hand is present within a certain distance of the handpiece 900.The proximity detector 910 may provide a detected result to thecommunication board 950 so that a corresponding control (for example,activating or deactivating the handpiece) may be subsequently performedbased on the detected result. The presence detector 910 may provide ageneral purpose output such as simple digital high's and low's to thecommunication board 950. The proximity detector 910 can be implementedwith, for example, a capacitive proximity detector available fromMicrochip as described herein.

The slider board 920 may be used to drive the input control interface326 a such as a trackpad or capacitive touch surface described herein.The slider board 920 may provide a sensed result to the communicationboard 950 so that a corresponding control (for example, gesture control,shared input control, additional input control) may be subsequentlyperformed based on the sensed result. The slider board 920 may beimplemented with, for example, the ICs available from Microchip asdescribed herein.

The haptic feedback device 930 may provide a haptic feedback to anoperator, when the operator switches a function from a first mode to asecond mode different from the first mode as described herein. Althoughnot shown in FIG. 26, at least one of other feedback devices (visualfeedback device, audio feedback device, tactile feedback device or forcefeedback device) may also be included in the handpiece 1000. The hapticfeedback device 930 may provide a haptic feedback to an operator via thecommunication board 950. The haptic feedback device 930 can beimplemented with, for example, the ICs available from Texas Instrumentsas described herein.

The pincher encoder (or pincher angle detector) 940 may magnetically orinductively detect a pincer angle and provide the detected result to thecommunication board 950 so that a corresponding control (for example,control of jaw movement of a surgical instrument) may be subsequentlyperformed based on the detected result. The pincher encoder 940 mayinclude the magnetic angular detector 940 a and/or the inductive sensor940 b.

The magnetic angular detector 940 a may detect an angular movement of amagnetic target attached to or integrally formed with the wiper 370shown in FIGS. 10-11B. The magnetic angular detector 940 a may beimplemented with, for example, the MPS ICs or ADI ICs as discussedherein.

The inductive sensor 940 b may detect a pincer angle by inductivelysensing a movement of a metallic target formed in the wiper 370 or thepaddle 329. The inductive sensor 940 b may be implemented with, forexample, the TI ICs or IDT ICs as discussed herein.

The communication board 950 may be used to communicate data with thecomponents 910-940, or devices external to the handpiece 1000. Thecommunication board 950 may be implemented with, for example, ICsavailable from NXP Semiconductors. The NXP ICs may convert all data to adifferential I2C format. The slider board 920 and the pincher encoder940 may use a shared I2C bus for communication with the communicationboard 950. However, the present disclosure is not limited to the I2Cprotocol, and other communication protocols such as serial peripheralinterface (SPI) or System Management Bus (SMBus) could also be used.Furthermore, simple quadrature encoding could be used for the pincherencoder 940.

Handpiece Ergonomic Features

As discussed herein, during operation, an operator grasps a handpiecewith his/her hand and moves the handpiece such that the instrumentmimics the movement of the handpiece. For example, the operator may pushtoward and pull the handpiece from input devices, move upward,downwards, leftwards, rightwards or diagonal wise, or rotate thehandpiece about a longitudinal axis thereof. Furthermore, the operatoropens and closes the paddle 329 to control an open and close movement ofthe instrument. Moreover, during operation, an operator generally spendsa substantial amount of time (for example, half an hour to few hours) inoperating the handpiece. Thus, it is desirable that the handpiece isdesigned or structured to be user friendly, safe, ergonomic, reduce userfatigue and/or improve operation efficiency. In some cases, thehandpiece may have multiple ergonomic features. For example, severalcomponents of the handpiece (for example, palm grip, neck portion,paddle, slanted top, ridge, pivot joint, cutout, etc.) may beergonomically shaped and/or sized.

1. Palm Grip

FIG. 27 illustrates a perspective view of a right side handpiece 122showing palm grip ergonomic features according to some embodiments. FIG.28 illustrates a perspective view of the right side handpiece 122 ofFIG. 27 grasped by a user's right hand according to some embodiments.Referring to FIG. 27, the handpiece 122 includes a palm grip 303. Thepalm grip (hereinafter to be interchangeably used with a “handle”) 303is a region of the handpiece 122 that is grasped and/or supported by theoperator's palm 750 (see, for example, FIG. 28). In some cases, the palmgrip 303 may be sufficiently long to permit a substantial portion of anaverage operator's palm to be rested on. This design may be advantageousover a linear handle or a curved but relative shorter handle, in that anoperator may be able to more securely and comfortably grasp thehandpiece 122 using the longer and ergonomically shaped palm grip 303.Furthermore, due to a longer/larger dimension and ergonomic design, thepalm grip 303 may have a larger contact surface area where an operator'spalm can rest.

The palm grip 303 may include an upper grip (or upper portion) 303 a, amiddle grip (or middle portion) 303 b and a lower grip (or lowerportion) 303 c. The upper grip 303 a may extend from the neck portion317 toward the proximal end. The middle grip 303 b may downwardly extendat a first angle from the upper grip 303 a. The lower grip 303 c maydownwardly extend at a second angle from the middle grip 303 b. Thefirst and second angles may be the same as or different from each otherdepending on the embodiment. The upper and lower grips 303 a and 303 cmay have a narrower diameter or width than that of the middle grip 303 bso that the palm grip 303 as a whole has a substantially ‘egg’ shape.The width or diameter of the upper grip 303 a may be larger than that ofthe neck portion 317. The upper grip 303 a may be shaped and sized topermit at least a portion of an average operator's finger (for example,thumb or index finger) to be comfortably rested or supported. The middlegrip 303 b may have an external surface that is curved to correspond toa curvature of at least part of an average operator's palm.

In some cases, as shown in FIG. 28, the palm grip 303 may form an obtuseangle 760 with the neck portion 317. The obtuse angle 760 may correspondto the anatomy of an average operator's hand. The obtuse angle 760 maybe substantially similar to an angle of a natural curvature of anaverage operator's hand when gripping the handpiece 122 as shown in FIG.28. In these cases, an operator's thumb 730 and index finger 740 may bepositioned on a region of the handpiece 122 (for example, the indexfinger 740 on or near the paddle 329 and the thumb 730 on opposite sideof the index finger 740) substantially parallel to a longitudinal axisof the handpiece 122. Furthermore, the palm 750 may be positioned on thepalm grip 303 such that the angle between the thumb 730/index finger 740and the palm 750 may be substantially similar to the obtuse angledefined between the neck portion 317 and the palm grip 303. The slantedangle of the palm grip 303 may provide a maximum contact with the palm750 while providing comfort to the operator. The operator's middlefinger 736 may be positioned on a downward extension 764 of the paddle329 (see, for example, FIG. 29), and the other two fingers 732 and 734may be rested on a portion of the palm grip 303.

Thus, the ergonomically shaped palm grip design may provide comfort andconvenience while reducing user fatigue and improving operationefficiency.

2. Neck Portion

In some cases, as shown in FIG. 27, the handpiece 122 may also include aneck portion 317 positioned between the upper grip 303 a and the pivotjoint 372 (see also FIG. 11A). The neck portion 317 may have a reducedcross sectional extent with respect to the upper grip 303 a. The neckportion 317 may permit an operator's fingers (for example, thumb 730 orindex finger 740) to be comfortably rested thereon.

Since the neck portion 317 is positioned between the upper grip 303 aand the pivot joint 372, the neck portion 317 may not horizontallyoverlap the paddle 329. This may be advantageous, as it can permit anoperator's finger to be rested thereon without the finger touching thepaddle 329. The palm grip 303 and the neck portion 317 together mayallow an operator to comfortably grasp the handpiece 122 while restingone or more of his/her fingers without interfering with the paddleoperation.

In some cases, as shown in FIG. 27, the neck portion 317 may include aprotruding side surface 317 a that outwardly protrudes from a sidethereof. Although FIG. 27 shows only one protruding side surface 317 a,the neck portion 317 may include another protruding surface on theopposite side. The protruding surface 317 a alone or in combination witha convexed tail end 331 (to be described with respect to FIG. 29 below)of the paddle 329 may enable operators to more easily roll (rotate) thehandpiece 122 about a longitudinal axis of the handpiece 122, by turningthe protruding side surface 317 a and/or the convexed tail end 331 withtheir fingertip(s), without the need of rotating their wrists. Inanother case, during this handgrip rotating procedure, the operators maymerely loosely grasp the palm grip 303.

In some cases, the protruding surface 317 a of the neck portion 317 maybe adjacent to or contact the convexed tail end 331. The protrudingsurface 317 a may have a curvature substantially the same as or similarto that of the curvature of the convexed tail end 331. The combinationof the protruding surface 317 a and the convexed tail end 331 having thesame or similar curvature may allow operators to more easily roll(rotate) the handpiece 122 by turning the combined elements 317 a and331, as the operator would have a larger convexed area to turn.

Thus, the ergonomic features of the neck portion may provide comfort andconvenience while reducing user fatigue and improving operationefficiency.

3. Paddle

FIG. 29 illustrates a perspective view of a right side handpiece 122showing paddle ergonomic features according to some embodiments. FIG. 30illustrates a closed-up perspective view of a paddle 329 of the rightside handpiece 122 of FIG. 29 according to some embodiments (withirrelevant elements removed). FIG. 31 illustrates a close-up left sideview of the paddle 329 of FIG. 30 according to some embodiments.

Referring to FIG. 29, the paddle 329 includes a tail end 331 and apaddle end 333. The paddle 329 may also include an upper portion 770 anda downward extension 764. The upper portion 770 includes a tail region762 and a paddle region 766. The tail region 762 may include the tailend 331 and a non-tail end region adjacent to the tail end 331. Thedownward extension 764 downwardly extends from the paddle region 766. Insome cases, as shown in FIG. 29, left and right ends of the downwardextension 764 may be sized such that the upper side of the downwardextension 764 has a width slightly greater than that of the lower sidethereof. The tail region 762 may be sized to receive distal phalanges ofan average operator's finger (for example, index finger) when grasped bythe hand of the operator. The downward extension 764 may have a heightgreater than that of the tail region 762 where the height is measured ina direction substantially perpendicular to a longitudinal axis of thehandpiece body. The downward extension 764 may be sized to accommodateat least two fingers of the operator such as index and middle fingers.

In some cases, an outer surface of the tail region 762 may be at leastpartially outwardly curved. For example, the outer surface may be atleast partially convexed, crowned, arced or semi-circular. For example,an outer surface of the tail end 331 may be at least partially convexed.The convexed tail region 762 alone or in combination with the protrudingside surface 317 a of the neck portion 317 may enable operators to moreeasily roll (rotate) the handpiece 122 about a longitudinal axis of thehandpiece 122, by turning at least one of the two protruding elements762 and 317 a with their fingertip(s), without the need of rotatingtheir wrists, or by merely loosely grasping the palm grip 303.

In some cases, as shown in FIG. 31, the tail end 331 may be fullyconvexed. For example, an outer surface of the tail end 331 may have asubstantially convexed lens shape. In some cases, as shown in FIG. 31,the tail end 331 may be partially convexed. In these cases, the tail end331 may include an upper convexed portion 331 a and a lowersubstantially flat portion 331 b. In some cases, the lower portion 331 bmay be convexed and the upper portion 331 a may be substantially flat.The remaining portion of the tail region 762 may be substantially flat,convexed or less convexed than the tail end 331.

In some cases, instead of or in addition to the outwardly curvedsurface, the tail end 331 may include one or more individual protrusionsspaced apart (not shown). In some cases, the entire tail region 762 maybe convexed. The paddle region 766 may be substantially flat or lessconvexed (in terms of curvature) than the tail region 762. In somecases, the tail region 762 may include other shape or structure as longas it can permit operators to more easily rotate the handpiece 122 withan operator's fingertip(s).

The downward extension 764 may be at least partially concaved orinwardly curved (opposite curve of the curvature described herein forthe tail end 331). The concaved portion 764 may allow an operator tograb the paddle 329 or rest his or her fingers thereon. In some cases,as shown in FIGS. 29 and 30, the entirety of the downward extension 764may be concaved. In some cases, the downward extension 764 may bepartially concaved.

Thus, the ergonomic features (convexed tail region and concaved downwardextension) of the paddle 329 may provide comfort and convenience whilereducing user fatigue and improving operation efficiency.

4. Slanted Top

FIG. 32 illustrates a rear view of a right side handpiece 122 showingadditional handpiece ergonomic features according to some embodiments.In some cases, as shown in FIG. 32, the handpiece 122 may include aslanted top surface 780 that is slanted toward a side surface of thebody where an operator's index finger is configured to be positionedwhen the handpiece is grasped by the hand of the operator. For example,for a right side handpiece having a paddle disposed on the right side ofthe body (see, for example, FIG. 32), the slanted top surface 780 may beslanted toward the paddle 329 or the cutout 336. As another example, fora right side handpiece having a paddle disposed on the left side of thebody (not shown), the slanted top surface may be slanted toward a sideof the body on the opposite side of the paddle. As another example, fora left side handpiece having a paddle disposed on the left side of thebody (see, for example, FIG. 3A), the slanted top surface may be slantedtoward the paddle or the cutout. As another example, for a left sidehandpiece having a paddle disposed on the right side of the body (see,for example, FIG. 6A), the slanted top surface may be slanted toward aside of the body on the opposite side of the paddle. As another example,for a handpiece having paddles disposed on both the left and right sidesof the body (see, for example, FIG. 9), the top surface may be relativeflat or have side (or edge portions) that curve toward each of the leftand right sides of the body. The curvature of the top surface may be aconvex curvature.

The slanted top surface 780 may be advantageous in that an operator caneasily move his or her index finger between the input control interface326 a and the paddle 329, as the input control interface 326 a is closerto the paddle 329, compared to a non-slanted handpiece top. Thus, theslanted top 780 may provide convenience while improving operationefficiency.

5. Ridge Around Input Control Interface

In some cases, as shown in FIG. 27, the handpiece 122 may include aridge 326 b around the input control interface 326 a. The ridge 326 bsurrounds the input control interface 326 a and is upwardly protruded orraised from an edge of the input control interface 326 a. The ridge 326b may help an operator recognize the location of the input touchinterface 326 a during operation without necessarily having to look atthe handpiece 122. Although FIG. 27 shows that the ridge 326 b fullysurrounds the input control interface 326 a, the ridge 326 b may beformed to only partially surround the input control interface 326 a. Insome cases, the ridge 326 b may include a plurality of individualprotrusions spaced apart along the edge of the input control interface326 a. In some cases, the ridge 326 b may have other shapes that canprovide a tactile feedback to an operator regarding the position of theinput touch interface 326 a. Thus, the ridge 326 b may also provideconvenience while improving operation efficiency and accuracy.

6. Sloped Region

In some cases, as shown in FIG. 27, the handpiece 122 may include asloped region 319 between the neck portion 317 and the ridge 326 b ofthe input control interface 326 a. Since there is a height differencebetween the neck portion 317 and the ridge 326 b, the two elements 317and 326 a are connected via the sloped region 319. The sloped region 319may be downwardly curved or linear. In some cases, the sloped region 319alone may be used for an operator to rest his or her finger thereon. Insome cases, the sloped portion 319 and the neck portion 317 together maybe used to accommodate an operator's finger (for example, thumb or indexfinger) for resting. Thus, the sloped region 319 may provide morecomfort, thereby reducing user fatigue.

7. Pivot Joint and Paddle Movement Mechanism

Referring to FIG. 11A and FIG. 27, the pivot joint 327 is disposedinside the handpiece body (see also FIG. 11A). Since there is no pivotjoint disposed outside the handpiece body, an operator may be preventedfrom being finger-pinched by a pivot joint and/or a portion of theoutside of the handpiece body. In addition to enhancing user safety, thehandpiece 122 may appear aesthetically better and neater by not placingthe pivot joint outside or near the side of the handpiece body.Furthermore, in combination with the wiper 370 (see, for example, FIG.11A), the pivot joint 372 may more securely fix the paddle 329 to thehandpiece body.

Referring back to FIG. 11A, the paddle 329 and the wiper 370 areconnected to and arranged in a substantially spaced apart and parallelrelationship with each other (see arrows 371 in FIG. 11A). Having thepaddle 329 and the wiper 370 on opposite sides of the pivot joint 372but spaced apart allows for compactness of the handpieces. Otherwise, ifthey were inline, the wiper 370 would need to extend farther towards theproximal end in order to have enough spacing to detect a change in angle(using the angular detection sensor or curved coil layout if using aninductive detector described herein). This may also allow the paddle 329to extend out and away from the body to provide a comfortable grip forthe user.

In some cases, as shown in FIG. 11A, the paddle 329 may have a centrallongitudinal axis 371 that does not intersect the pivot joint 372.Furthermore, the pivot joint 372 may be disposed inside the body to becloser to a longitudinal axis 373 of the body than the longitudinal axis371 of the paddle 329. This structure allows substantially the entiretyof the paddle 329 to be disposed outside the body. Furthermore, thelongitudinal axis 371 of the paddle 329 can be substantially parallel tothe longitudinal axis 373 of the body in its closed position. The fullclosure and parallel arrangement of the paddle 329 may be beneficial inthat the instrument can be fully closed based on the movement of thepaddle 329. Moreover, the described structure also allows an innersurface of the paddle 329 to gently land on a side surface of the bodythat faces the paddle 329. This can prevent the paddle from colliding orotherwise having an undesirable physical impact on the paddle 329 whenit is closed.

In some cases, as shown in FIG. 11A, the tail end of the paddle 329 mayinclude a region 375 that is angled, slanted or curved toward the pivotjoint 372. The angled region 375 may be used to conveniently open andclose the paddle 329. The angled region 375 may be convexed toconveniently roll the handpiece without using the palm grip 303 asdescribed herein.

With the ergonomic structure of the pivot joint 372 and the paddle 329along with the wiper 370, no mechanical paddle movement detectionmechanism, such as a rod that converts a rotational paddle movement intoa linear movement, is required. Thus, the handpiece can be moreefficiently manufactured and/or the pincer angle detection can be moreaccurately or efficiently made. Furthermore, the handpiece may be moresafely operated by a user.

8. Cutout

In some cases, as shown in FIG. 27, the handpiece 122 may also include acutout 336 formed in the side surface of the body that faces the paddle329. The cutout 336 may be shaped to accommodate the paddle 329. Forexample, as shown in FIG. 30, the inner surface 329 c of the paddle 329may be inwardly curved, and the cutout 336 may be correspondingly shapedto accommodate the curved inner surface 329 c of the paddle 329. Asdescribed herein, the longitudinal axis 371 of the paddle 329 can besubstantially parallel to the longitudinal axis 373 of the body in itsclosed position. The cutout 336 may more easily enable the parallelarrangement between the axes 371 and 373 of the paddle 329 and the bodyby accommodating the paddle 329 therein.

Other Variations

Those skilled in the art will appreciate that, in some embodiments,additional components and/or steps can be utilized, and disclosedcomponents and/or steps can be combined or omitted.

For example, although some embodiments are described in connection witha robotic surgery system, the disclosure is not so limited. Systems,devices, and methods described herein can be applicable to medicalprocedures in general, among other uses. As another example, certaincomponents can be illustrated and/or described as being circular orcylindrical. In some implementations, the components can be additionallyor alternatively include non-circular portions, such as portions havingstraight lines. As yet another example, any of the actuators describedherein can include one or more motors, such as electrical motors. As yetanother example, in addition to or instead of controlling tilt and/orpan of a camera, roll (or spin) can be controlled. For example, one ormore actuators can be provided for controlling the spin.

The foregoing description details certain embodiments of the systems,devices, and methods disclosed herein. It will be appreciated, however,that no matter how detailed the foregoing appears in text, the systems,devices, and methods can be practiced in many ways. The use ofparticular terminology when describing certain features or aspects ofthe disclosure should not be taken to imply that the terminology isbeing redefined herein to be restricted to including any specificcharacteristics of the features or aspects of the technology with whichthat terminology is associated.

It will be appreciated by those skilled in the art that variousmodifications and changes can be made without departing from the scopeof the described technology. Such modifications and changes are intendedto fall within the scope of the embodiments. It will also be appreciatedby those of skill in the art that parts included in one embodiment areinterchangeable with other embodiments; one or more parts from adepicted embodiment can be included with other depicted embodiments inany combination. For example, any of the various components describedherein and/or depicted in the figures can be combined, interchanged, orexcluded from other embodiments.

With respect to the use of substantially any plural and/or singularterms herein, those having skill in the art can translate from theplural to the singular and/or from the singular to the plural as isappropriate to the context and/or application. The varioussingular/plural permutations can be expressly set forth herein for sakeof clarity.

Directional terms used herein (for example, top, bottom, side, up, down,inward, outward, etc.) are generally used with reference to theorientation or perspective shown in the figures and are not intended tobe limiting. For example, positioning “above” described herein can referto positioning below or on one of sides. Thus, features described asbeing “above” may be included below, on one of sides, or the like.

It will be understood by those within the art that, in general, termsused herein are generally intended as “open” terms (for example, theterm “including” should be interpreted as “including but not limitedto,” the term “having” should be interpreted as “having at least,” theterm “includes” should be interpreted as “includes but is not limitedto,” etc.). It will be further understood by those within the art thatif a specific number of an introduced claim recitation is intended, suchan intent will be explicitly recited in the claim, and in the absence ofsuch recitation no such intent is present. For example, as an aid tounderstanding, the following appended claims can contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to embodiments containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (for example, “a” and/or “an” should typically be interpreted tomean “at least one” or “one or more”); the same holds true for the useof definite articles used to introduce claim recitations. In addition,even if a specific number of an introduced claim recitation isexplicitly recited, those skilled in the art will recognize that suchrecitation should typically be interpreted to mean at least the recitednumber (for example, the bare recitation of “two recitations,” withoutother modifiers, typically means at least two recitations, or two ormore recitations).

The term “comprising” as used herein is synonymous with “including,”“containing,” or “characterized by,” and is inclusive or open-ended anddoes not exclude additional, unrecited elements or method steps.

Conditional language, such as “can,” “could,” “might,” or “may,” unlessspecifically stated otherwise, or otherwise understood within thecontext as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements, and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements, and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements, and/or steps areincluded or are to be performed in any particular embodiment.

Language of degree used herein, such as the terms “approximately,”“about,” “generally,” and “substantially” as used herein represent avalue, amount, or characteristic close to the stated value, amount, orcharacteristic that still performs a desired function and/or achieves adesired result. For example, the terms “approximately”, “about”,“generally,” and “substantially” may refer to an amount that is withinless than 10% of, within less than 5% of, within less than 1% of, withinless than 0.1% of, and/or within less than 0.01% of the stated amount.

It will be further understood by those within the art that anydisjunctive word and/or phrase presenting two or more alternative terms,whether in the description, claims, or drawings, can be understood tocontemplate the possibilities of including one of the terms, either ofthe terms, or both terms. For example, the phrase “A or B” will beunderstood to include the possibilities of “A” or “B” or “A and B.”Further, the term “each,” as used herein, in addition to having itsordinary meaning, can mean any subset of a set of elements to which theterm “each” is applied.

Conjunctive language such as the phrase “at least one of X, Y, and Z,”unless specifically stated otherwise, is otherwise understood with thecontext as used in general to convey that an item, term, etc. may beeither X, Y, or Z. Thus, such conjunctive language is not generallyintended to imply that certain embodiments require the presence of atleast one of X, at least one of Y, and at least one of Z.

The various illustrative logical blocks, modules, circuits, andalgorithm steps described in connection with the embodiments disclosedherein may be implemented as electronic hardware, computer software, orcombinations of both. To clearly illustrate this interchangeability ofhardware and software, various illustrative components, blocks, modules,circuits, and steps have been described above generally in terms oftheir functionality. Whether such functionality is implemented ashardware or software depends upon the particular application and designconstraints imposed on the overall system. The described functionalitymay be implemented in varying ways for each particular application, butsuch implementation decisions should not be interpreted as causing adeparture from the scope of the embodiments of the invention.

The various illustrative blocks, modules, and circuits described inconnection with the embodiments disclosed herein may be implemented orperformed with a general purpose processor, a Digital Signal Processor(DSP), an Application Specific Integrated Circuit (ASIC), a FieldProgrammable Gate Array (FPGA) or other programmable logic device,discrete gate or transistor logic, discrete hardware components, or anycombination thereof designed to perform the functions described herein.A general purpose processor may be a microprocessor, but in thealternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core, or any other suchconfiguration.

The steps of a method or algorithm and functions described in connectionwith the embodiments disclosed herein may be embodied directly inhardware, in a software module executed by a processor, or in acombination of the two. If implemented in software, the functions may bestored on or transmitted over as one or more instructions or code on atangible, non-transitory computer-readable medium. A software module mayreside in Random Access Memory (RAM), flash memory, Read Only Memory(ROM), Electrically Programmable ROM (EPROM), Electrically ErasableProgrammable ROM (EEPROM), registers, hard disk, a removable disk, a CDROM, or any other form of storage medium known in the art. A storagemedium is coupled to the processor such that the processor can readinformation from, and write information to, the storage medium. In thealternative, the storage medium may be integral to the processor. Diskand disc, as used herein, includes compact disc (CD), laser disc,optical disc, digital versatile disc (DVD), floppy disk and blu ray discwhere disks usually reproduce data magnetically, while discs reproducedata optically with lasers. Combinations of the above should also beincluded within the scope of computer readable media. The processor andthe storage medium may reside in an ASIC. The ASIC may reside in a userterminal. In the alternative, the processor and the storage medium mayreside as discrete components in a user terminal.

The above description discloses embodiments of systems, apparatuses,devices, methods, and materials of the present disclosure. Thisdisclosure is susceptible to modifications in the components, parts,elements, steps, and materials, as well as alterations in thefabrication methods and equipment. Such modifications will becomeapparent to those skilled in the art from a consideration of thisdisclosure or practice of the disclosure. Consequently, it is notintended that the disclosure be limited to the specific embodimentsdisclosed herein, but that it cover all modifications and alternativescoming within the scope and spirit of the subject matter embodied in thefollowing claims.

What is claimed is:
 1. A hand controller apparatus for controlling atool in a robotic surgery system, the apparatus comprising: a bodyincluding a proximal end and a distally located interface end configuredto be coupled to an input apparatus configured to control a surgicaltool; and a control lever attached to a pivot joint proximate a sidesurface of the body and extending along the body and away from theproximal end, the control lever being laterally moveable relative to theside surface of the body about the pivot joint, wherein the controllever includes a tail region adjacent to the pivot joint and a paddleregion connected to the tail region and extending toward the distallylocated interface end, wherein the tail region includes an inner surfacefacing the body and an outer surface opposing the inner surface, whereinat least part of the outer surface of the tail region is outwardlycurved, and wherein the at least part of the outer surface of the tailregion includes a substantially convex shape.
 2. The apparatus of claim1, wherein the tail region includes a tail end horizontally overlappingthe pivot joint, and wherein an outer surface of the tail end isoutwardly curved and an outer surface of the remaining portion of thetail region is substantially flat.
 3. The apparatus of claim 1, whereinthe control lever further includes an extension extending downwardlyfrom the paddle region, and wherein at least part of the extension iscurved toward the body.
 4. A hand controller apparatus for controlling atool in a robotic surgery system, the apparatus comprising: a bodyincluding a proximal end and a distally located interface end configuredto be coupled to an input apparatus configured to control a surgicaltool; control lever attached to a pivot joint proximate a side surfaceof the body and extending along the body and away, from the proximalend, the control lever being laterally moveable relative to the sidesurface of the body about the pivot joint, wherein the control leverincludes a tail region adjacent to the pivot joint and a paddle regionconnected to the tail region and extending toward the distally locatedinterface end, wherein the tail region includes an inner surface facingthe body and an outer surface opposing the inner surface, and wherein atleast part of the outer surface of the tail region is outwardly curved;and a cutout formed on or in the side surface of the body and configuredto accommodate the control lever therein such that a longitudinal axisof the control lever is substantially parallel to a longitudinal axis ofthe body.
 5. The apparatus of claim 1, further comprising a palm gripdisposed in or on the proximal end, the palm grip including a generallydownwardly curved and rounded shape configured to receive and support aportion of an operator's palm.
 6. The apparatus of claim 5, furthercomprising a neck portion interposed between the pivot joint and thepalm grip, wherein a width of the neck portion is smaller than a widthof the palm grip.
 7. The apparatus of claim 6, wherein the neck portionincludes a protruding side surface.
 8. The apparatus of claim 7, whereinthe protruding side surface of the neck portion has a curvature that issubstantially the same as a curvature of the at least part of the outersurface of the tail region.
 9. The apparatus of claim 8, wherein atleast one of i) the protruding side surface of the neck portion, or ii)the at least part of the outer surface of the tail region is configuredto enable an operator to rotate the body of the hand controllerapparatus about a longitudinal axis of the body with the operator'sfinger without rotation of the operator's wrist.
 10. The apparatus ofclaim 6, further comprising: an input control interface formed on anupper surface of the body and configured to sense an operator input,wherein the input control interface includes a first side facing theproximal end and a second side opposing the first side and facing thedistally located interface end; and a slope region disposed between thefirst side of the input control interface and the neck portion anddownwardly sloped to allow an operator's finger to be rested thereon.11. The apparatus of claim 10, wherein the input control interfaceincludes a periphery at least part of which is raised to provide atactile feedback for a location of the input control interface.
 12. Theapparatus of claim 6, wherein the palm grip is downwardly angled withrespect to the neck portion to substantially resemble a naturalcurvature formed between an average operator's thumb and palm when thepalm grip is grasped by the operator's hand.
 13. A hand controllerapparatus for controlling a tool in a robotic surgery system, theapparatus comprising: a body including a proximal end and a distallylocated interface end configured to be coupled to an input apparatusconfigured to control a surgical instrument; a control lever attached toa pivot joint proximate a side surface of the body and extending alongthe body and away from the proximal end, the control lever beinglaterally moveable relative to the side surface of the body about thepivot joint; a palm grip disposed in or on the proximal end, the palmgrip including a substantially downwardly curved and rounded shapeconfigured to receive and support a portion of an operator's palm; and aneck portion interposed between the pivot joint and the palm grip,wherein a width of the neck portion is smaller than a width of the palmgrip, wherein the pivot joint is disposed inside the body and positionedcloser to a longitudinal axis of the body than a longitudinal axis ofthe control lever.
 14. The apparatus of claim 13, wherein at least partof the neck portion does not horizontally overlap the pivot joint. 15.The apparatus of claim 13, wherein the palm grip includes an upperportion extending from the neck portion toward the proximal end, amiddle portion downwardly extending at a first angle from the upperportion, and a lower portion downwardly extending at a second angle fromthe middle portion, and wherein each of the upper and lower portionsincludes a width smaller than a width of the middle portion.
 16. Theapparatus of claim 13, wherein the body includes an upper surfaceaccommodating an input control interface configured to sense an operatorinput, and wherein the upper surface is slanted toward the side surfaceof the body, the slanted upper surface configured to support anoperator's index finger when the palm grip is grasped by the operator'shand.
 17. The apparatus of claim 13, wherein the control lever comprisesa wiper disposed inside the body and extending from the pivot jointtoward the proximal end and a paddle disposed outside the body andextending at an angle from the pivot joint toward the distally locatedinterface end, and wherein the wiper and the paddle are connected to thepivot joint such that longitudinal axes of the wiper and the paddle aresubstantially parallel to each other.
 18. The apparatus of claim 17,wherein the longitudinal axes of the wiper and the paddle do notintersect a center of the pivot joint.
 19. The apparatus of claim 1,wherein the tail region has a first height, and wherein the paddleregion has a second height greater than the first height.
 20. Theapparatus of claim 1, further comprising a palm grip disposed in or onthe proximal end and extending at an angle from the proximal end of thebody, wherein the tail region does not horizontally overlap the palmgrip.